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More exactly, a Jacobi-type algorithm is developed to minimize the cost function  \\[ f_N: M(\\Sigma)\\to \\mathbb{R},\\qquad f_N(W)= \\text{tr}(NW), \\]  where  \\[ M(\\Sigma):= \\{T\\Sigma T'\\mid T\\in O^+_{pq}(\\mathbb{R})\\}, \\]  \\(N= \\text{diag}(\\mu_1,\\dots, \\mu_p,\\nu_1,\\dots,\\nu_q)\\) with \\(0< \\mu_1<\\cdots< \\mu_p\\) and \\(0< \\nu_1< \\nu_2<\\cdots< \\nu_q\\), the set  \\[ O_{pq}(\\mathbb{R}):= \\{T\\in\\mathbb{R}^{n\\times n}\\mid T I_{pq}T'= I_{pq}\\} \\]  is the real Lie group of pseudo-orthogonal \\((n\\times n)\\)-matrices stabilizing \\(I_{pq}\\) by congruence, the set \\(O^+_{pq}(\\mathbb{R})\\) denotes the identity component of \\(O_{pq}(\\mathbb{R})\\), and \\(\\Sigma= \\text{diag}(\\sigma_1,\\dots,\\sigma_n)\\) where the \\(\\sigma_1,\\dots,\\sigma_n\\) are the Hankel singular values.   Given an asymptotically stable linear system \\((A,B,C)\\), the controllability Gramian \\(W_c\\) and the observability Gramian \\(W_0\\) are defined, respectively, by  \\[ W_c= \\int^\\infty_0 e^{tA} BB' e^{tA'}dt\\quad\\text{and}\\quad W_0= \\int^\\infty_0 e^{tA'} C'Ce^{tA} \\,dt. \\]  A realization \\((A,B,C)\\) is called signature symmetric if  \\[ (AI_{pq})'= AI_{pq},\\quad (CI_{pq})'= B, \\]  and balanced if \\(W_c= W_0= \\Sigma\\).   Local quadratic convergence of the Jacobi-type algorithm for balancing is shown. One numerical example is presented verifying the theoretical 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