types.linearization.ControlJacobian

types.linearization.ControlJacobian

Control Jacobian ∂f/∂u.

Matrix of partial derivatives of dynamics with respect to control.

Shape: (nx, nu)

Examples

>>> Bc: ControlJacobian = system.control_jacobian(x_eq, u_eq)
>>> # Often constant: Bc = [[0], [1/m]]

# types.linearization.ControlJacobian { #cdesym.types.linearization.ControlJacobian }

`types.linearization.ControlJacobian`

Control Jacobian ∂f/∂u.

Matrix of partial derivatives of dynamics with respect to control.

Shape: (nx, nu)

## Examples {.doc-section .doc-section-examples}

```python
>>> Bc: ControlJacobian = system.control_jacobian(x_eq, u_eq)
>>> # Often constant: Bc = [[0], [1/m]]
```