jacobian()#
- DiscreteModel.jacobian(state, input_=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 \(\ddqhat\fhat(\qhat, \u)\) where the model is given by \(\qhat_{j+1} = \fhat(\qhat_{j}, \u_{j})\).
- Parameters:
- state(r,) ndarray
State vector \(\qhat\).
- input_(m,) ndarray or None
Input vector \(\u\).
- Returns:
- jac(r, r) ndarray
State Jacobian of the right-hand side of the model.