lift_ddts()

Contents

lift_ddts()#

static QuadraticLifter.lift_ddts(states, ddts)[source]#

Get the time derivatives of the lifted variables, \(\frac{\partial}{\partial t}(q, q^2) = (q_t, 2qq_t)\).

Parameters:

states(n, k) ndarray: Native state variables.
ddts(n, k) ndarray: Time derivatives of the native state variables. Each column ddts[:, j] corresponds to the state vector states[:, j].

Returns:

ddts(2n, k) ndarray: Time derivatives of the learning variables.