Before revision: Observability Gramian The Observability Gramian can be found as the solution of the Lyapunov equation given by In fact, we can see that if we take as a solution, we are going to found that: Where we used the fact that at for stable (all its eigenvalues have negative real part).
After revision: Observability Gramian The Observability Gramian can be find as the solution of the Lyapunov equation given by In fact, we can see that if we take as a solution, we are going to found that: Where we used the fact that at for stable (all its eigenvalues have negative real part).