# Copyright (c) P.J.Gawthrop 1991, 1992, 1994.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.7  1998/10/05 10:46:15  peterg
## Commented out redundant MTTY := MTTY + MTTEyx*MTTEdX;
##
## Revision 1.6  1998/07/19 12:44:35  peterg
## Set MTTYz := 0 if the array is empty - avoids irritating error
## message.
##
## Revision 1.5  1998/05/20 15:23:26  peterg
## Put MTTYz := MTTYz outsise the BEGIN/END
##

in "$1_dae.r";


%Create F_x, F_y matrices - assumming equations are 
% linear in dZ
IF MTTNz>0 THEN 
BEGIN

IF MTTNx>0 THEN 
BEGIN

% Find MTTFx;
write "% Find MTTFx;";

matrix MTTFx(MTTNx,MTTNz);
FOR j := 1:MTTNz DO
  BEGIN
  dzj := MTTdZ(j,1);
  FOR i := 1:MTTNx DO
    MTTFx(i,j) := df(MTTdX(i,1), dzj, 1);
  END;

END;

% Find MTTFy;
write "% Find MTTFy;";

matrix MTTFy(MTTNy,MTTNz);
FOR j := 1:MTTNz DO
  BEGIN
  dzj := MTTdZ(j,1);
  FOR i := 1:MTTNy DO
    MTTFy(i,j) := df(MTTy(i,1), dzj, 1);
  END;

%Create G_x, G_u matrices 
write "%Create G_x, G_u matrices ";


% Find MTTGx;
IF MTTNx>0 THEN 
BEGIN
write "% Find MTTGx;";

matrix MTTGx(MTTNz,MTTNx);
FOR j := 1:MTTNx DO
  BEGIN
  xj := MTTX(j,1);
  FOR i := 1:MTTNz DO
    MTTGx(i,j) := df(MTTZ(i,1), xj, 1);
  END;
END;

% Find MTTGu;
write "% Find MTTGu;";

matrix MTTGu(MTTNz,MTTNu);
FOR j := 1:MTTNu DO
  BEGIN
  uj := MTTu(j,1);
  FOR i := 1:MTTNz DO
    MTTGu(i,j) := df(MTTZ(i,1), uj, 1);
  END;

%Create E matrices
write "%Create E matrices";

IF MTTNx>0 THEN 
BEGIN
matrix MTTExx(MTTNx,MTTNx); MTTExx := MTTFx*MTTGx;
matrix MTTExu(MTTNx,MTTNu); MTTExu := MTTFx*MTTGu;
matrix MTTEyx(MTTNy,MTTNx); MTTEyx := MTTFy*MTTGx;
matrix MTTE(MTTNx,MTTNx);   MTTE := MTTI - MTTExx;
END;
matrix MTTEyu(MTTNy,MTTNu); MTTEyu := MTTFy*MTTGu;





  %% The following gets rid of the dZs; there must be a better way.
  MTTdZ1 := 0;
  MTTdZ2 := 0;
  MTTdZ3 := 0;
  MTTdZ4 := 0;

  MTTdZ14 := 0;
  MTTdZ15 := 0;
  MTTdZ16 := 0;
  MTTdZ17 := 0;
  MTTdZ18 := 0;
  MTTdZ19 := 0;

IF MTTNx>0 THEN 
BEGIN
MTTEdX := MTTdX; %Ie MTTEdX is MTTdX with the dz terms deleted ie EdX.
MTTdX := MTTdXs;  %Restore the symbolic dX

%% Add on input derivative terms
MTTEdX := MTTEdX + MTTExu*MTTdu;
END;


%%%%%MTTY := MTTY + MTTEyx*MTTEdX;
%%% This causes the matrix mismatch
%%% MTTdXs and MTTdu need setting in _def.r file
MTTY := MTTY +  MTTEyu*MTTdu;

IF MTTNx>0 THEN 
  MTTY := MTTY + MTTEyx*(MTTE^(-1))*MTTEdX;


END; %%of MTTNz>0

IF MTTNz=0 THEN 
BEGIN
  MTTEdX := MTTdX;