Himpe, Christian Computational Methods in Systems and Control Theory, Max Planck Institute for Dynamics of Complex Technical Systems, Max Planck Society;
http://www.runmycode.org/companion/view/2077 (Supplementary material)
himpe_2629997.pdf (Publisher version), 736KB
Himpe, C. (2018). emgr - The Empirical Gramian Framework. Algorithms, 11(7): 91. doi:10.3390/a11070091.