jacobian()

DiscreteModel.jacobian(state, input_=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 \(\ddqhat\fhat(\qhat, \u)\) 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.