Cascade Software Availability
Cascade Version SUN0.9 June 23, 1988
Two groups of software are available under the cascade sublibrary of netlib.
These are the cascade subroutine library, and the cascade tools, which are a
group of programs which can be called either as subroutines or as commands
from a Unix shell or VMS/DCL. The main programs use routines from the
The cascade subroutine library's subroutines and functions are documented in
the manual "Cascade Library Users' Guide", available via netlib by requesting
"send cascade_users_guide.ps from cascade" in postscript form.
The cascade tools are documented in the manual "Cascade Tools and Knowledge
Base", available via netlib by requesting "send cascade_tools_and_kb.ps from
cascade" in postscript form.
These files, as well as a suite of examples, are also available as Unix
compressed tar-format files via anonymous login to hickory.engr.utk.edu at The
University of Tennessee, Knoxville. If you are using a Unix system, the
Makefiles for libcascade.a (the cascade subroutine library) and
libcascadetools.a (the cascade tools library) are appended at the end of this
message; they will have to be modified to work at your site, since they are
intended to be invoked from the cascade distribution tape Makefile.
The network-available software is a part of the cascade expert system for
multivariable controller design using the LQG/LTR methodology. The complete
distribution is available on Sun 1/4" (60Mbyte or 150Mbyte) or Sun 8mm tapes,
as a tar file, only. The expert system requires the Quintus Prolog
development environment for compilation and execution. The cascade
distribution tape and/or printed documentation is available from J. D.
Birdwell at the address below; a fee is charged to cover the cost of media
and duplication. The cascade expert system and tools are known to work only
on Sun 3 workstations at the present time.
No warranty is made concerning the quality of the cascade software or its
applicability. The software available as a part of netlib has been placed in
the public domain by the authors, as a part of the cascade development
project, sponsored by the U.S. Department of Energy. Several authors
contributed to this project; they are cited in the manuals.
The cascade tools require several include files which netlib will not
automatically send; to receive them, request:
send Parameter.f from cascade
send dpcommon.f from cascade
send dpcom.f from cascade
send commands.h from cascade
You will also need the main program for the tools, headercode.c, in order
to invoke the tools from the command line:
send headercode.c from cascade
For further information, contact:
J. D. Birdwell
Department of Electrical and Computer Engineering
The University of Tennessee
Knoxville, TN 37996-2100
e-mail: firstname.lastname@example.org or email@example.com
Contents of the Cascade Subroutine Library
Regulator and Filter Design Software
Riccati Equation Solver
The following routines comprise RICPACK, written by Arnold and Laub;
some of the code is based upon other work, as referenced in the
documentation. the main entry points are ricsol and fbgain.
Frequency Response Computations
Matrix Exponential Routines
Computation of Poles and Zeros
Ward's Balancing Routines
Lyapunov Equation Solvers
Linear Equation Solvers
Modified LINPACK Routines
Input / Output Routines
Note: see the Cascade Tools and Knowledge Base
manual (cascade_tools_and_kb.ps) for file formats.
Basic Matrix Manipulation Routines
The Cascade Tools
Note: These tools are intended primarily for use by the cascade expert
system, which implements a version of the LQG/LTR multivariable controller
design methodology. All of the tools can be run from the Unix or VMS/DCL
command line, but some are not very useful except to the expert system. The
tools can also be called as subroutines in other programs. As commands, all
the tools expect command line arguments providing parameters and necessary
files. These are provided as elements of the argument lists when the tools
are accessed as subroutines. File formats and the command line formats are
described in the manual. All the tools require several include files in
order to compile, which define limits on array and matrix sizes and other
parameters. The tool contained in the file "svplot.f" requires the cgs/ncar
graphics library, but can be modified to use any low-order line graphics
The tools all use a common command line parser, contained in the file
"headercode.c". The commands to be built into headercode are defined in
"commands.h", included in headercode.c. There is currently a problem with
this code's execution on Sun 4 machines. If you wish the patch when it
becomes available, contact J. D. Birdwell, firstname.lastname@example.org.
Notification will be available only via e-mail. The tools are linked with
headercode.c into one large file, and, on Unix, links are defined from the
toolname (e.g. aolsys) to the headercode executable. Which tool is to be
executed is determined by the name of this link. On VMS systems, a command
definition file is required; contact J. D. Birdwell for its availability.
The tools were originally developed under a VMS/DCL environment, but have
since been ported to Unix The command line software may or may not work
under recent releases of VMS; it has not been tested.
headercode.c main program used to access all tools from the command line
Eric and Jack