nengolib.signal.control_gram

nengolib.signal.control_gram(sys)

Computes the controllability/reachability gramiam of a linear system.

Parameters:

sys : linear_system_like

Linear system representation.

Returns:

W : (len(sys), len(sys)) np.array

The controllability/reachability gramiam matrix.

See also

observe_gram(), balanced_transformation()

References

[1]	https://en.wikibooks.org/wiki/Control_Systems/Controllability_and_Observability