[pt,ph,st,sh,psi1,psi2]=dproeq(pt,ph,st,sh,p,g,c,v,w,q,r,mc,me,nc,a,b,m,rtol);

% DPROEQ : one iteration of the SDOPE (Strengthened Discrete-time Optimal
%          Projection Equations) for Deterministic Parameter Reduced-Order LQG Design.
%
%          Control and estimation equations of compensator
%          for (P,G,C,V,W) based on (Q,R) and nc=<nx.
%          (P,G,C) deterministic.
%
%          [pt,ph,st,sh,psi1,psi2]=dproeq(pt,ph,st,sh,p,g,c,v,w,q,r,nc,a,b,m,rtol);
% 
%          See also dprotin, gmhfac
% 
%          W.L. De Koning, L.G. Van Willigenburg, 28-11-95.
%

  function [pt,ph,st,sh,psi1,psi2]=dproeq(pt,ph,st,sh,p,g,c,v,w,q,r,mc,me,nc,a,b,m,rtol);
  if nargin~=18; rtol=1e-9; end;
%
% full order equations
%
  wp=w+c*pt*c'         ; rs=r+g'*st*g;
  iwp=pinv(wp)         ; irs=pinv(rs);
  kh=me+p*pt*c'        ; lh=g'*st*p+mc';
  s1p=kh*iwp*kh'       ; s2s=lh'*irs*lh;
  p1p=p-kh*iwp*c       ; p2s=p-g*irs*lh;
  psi1=p2s *ph*p2s'+s1p; psi2=p1p'*sh*p1p +s2s;

%
% reduced order adaptation
%
  [nx,nx]=size(p);
  [ta]=gmhfac(ph,sh,nc,a,m,rtol); tao=eye(nx)-ta;

  phn=psi1*ta'; phn=0.5*(phn+phn');
  shn=psi2*ta ; shn=0.5*(shn+shn');

  ptn=p *pt*p'-s1p+v+tao *psi1*tao';
  stn=p'*st*p -s2s+q+tao'*psi2*tao ;

  if a==0; b=0; end;
  pt=(1-b)*ptn+b*pt; pt=0.5*(pt+pt');
  st=(1-b)*stn+b*st; st=0.5*(st+st');

  ph=(1-b)*phn+b*ph;
  sh=(1-b)*shn+b*sh;
% keyboard