nengolib.signal.observe_gram

nengolib.signal.observe_gram(sys)[source]

Computes the observability gramiam of a linear system.

Parameters:
sys : linear_system_like

Linear system representation.
Returns:
W : (len(sys), len(sys)) np.array

The observability gramiam matrix.

See also

control_gram(), balanced_transformation()

References

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