jacobian()#
- ContinuousModel.jacobian(t, state, input_func=None)[source]#
Sum the state Jacobian of each model operator.
This the derivative of the right-hand side of the model with respect to the state, i.e., the function \(\ddqhat\fhat(\qhat(t), \u(t))\) where the model is given by \(\ddt\qhat(t) = \fhat(\qhat(t), \u(t))\).
- Parameters
- tfloat
Time \(t\), a scalar.
- state(r,) ndarray
State vector \(\qhat(t)\) corresponding to time
t.- input_funccallable(float) -> (m,), or None
Input function that maps time
tto the input vector \(\u(t)\).
- Returns
- jac(r, r) ndarray
State Jacobian of the right-hand side of the model.