control.lyap¶

control.lyap(A, Q, C=None, E=None)¶

X = lyap(A,Q) solves the continuous-time Lyapunov equation

$A X + X A^T + Q = 0$

where A and Q are square matrices of the same dimension. Further, Q must be symmetric.

X = lyap(A,Q,C) solves the Sylvester equation

$A X + X Q + C = 0$

where A and Q are square matrices.

X = lyap(A,Q,None,E) solves the generalized continuous-time Lyapunov equation

$A X E^T + E X A^T + Q = 0$

where Q is a symmetric matrix and A, Q and E are square matrices of the same dimension.