jacobian()

ContinuousModel.jacobian(t, state, input_func=None)

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 t to the input vector \(\u(t)\).

Returns:

jac(r, r) ndarray

State Jacobian of the right-hand side of the model.