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// Scilab ( http://www.scilab.org/ ) - This file is part of Scilab
// Copyright (C) INRIA - Serge Steer
//
// This file must be used under the terms of the CeCILL.
// This source file is licensed as described in the file COPYING, which
// you should have received as part of this distribution. The terms
// are also available at
// http://www.cecill.info/licences/Licence_CeCILL_V2.1-en.txt
function [y,xf]=flts(u,sl,x0)
[lhs,rhs]=argn(0)
if type(u)<>1 then error(53,1),end
if rhs<=1 then error(39),end
[nu,mu]=size(u)
select typeof(sl)
case "state-space" then
if rhs==2 then x0=sl.X0,end
[nb,mb]=size(sl.B)
if mb<>nu then error(60),end;
if sl.dt=="c" then error(94,2),end;
np=max(degree(sl.D))
[xf,x]=ltitr(sl.A,sl.B,u(:,1:(mu-np)),x0)
D=sl.D
if type(D)==1 then
y=sl.C*x+D*u
else
y=sl.C*x+rtitr(D,eye(D),u)
end
case "rational" then
if lhs>1 then
error(msprintf(gettext("%s: Wrong number of output argument: %d expected.\n"),"flts",1)),
end
[num,den]=sl(["num","den"]);[ns,ne]=size(num)
if sl.dt=="c" then error(94,2),end;
if ne<>nu then error(60), end;
for l=1:1:ns,
pp=den(l,1);
for k=2:ne,[pg,uu]=bezout(pp,den(l,k)),pp=pp*uu(1,2),end
nden(l)=pp
for k=1:ne,nnum(l,k)=num(l,k)*pdiv(pp,den(l,k)),end,
end;
for l=1:ns, nm(l)=degree(nden(l))-max(degree(nnum(l,:))),end
ly=mu+min(nm)
if rhs==3 then
[mx,nx]=size(x0);maxdgd=max(degree(nden))
if nx<maxdgd then
error(msprintf(gettext("%s: At least %s past values needed.\n"),"flts",string(maxdgd)))
end;
if mx<>ns+ne then error(60),end
end;
y=0*ones(ns,ly);
for l=1:ns
ddl=degree(nden(l))
dnl=max(degree(nnum(l,:)))
lent=ly-ddl+dnl
select rhs
case 2 then yl=rtitr(nnum(l,:),nden(l),u(:,1:lent));
[nn,mm]=size(yl);
y(l,1:mm)=yl;
// y=y(:,1:lent);
case 3 then
up=x0(1:ne,maxdgd-ddl+1:maxdgd);
yp=x0(ne+l,maxdgd-ddl+1:maxdgd);
y(l,:)=rtitr(nnum(l,:),nden(l),u(:,1:lent),up,yp);
end;
end,
l=size(y,2);
y=y(:,1:min(mu,l));
else
error(97,2)
end;
endfunction
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