controllability Gramian (generalized)

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generalized Gramian of controllability, for use in bi-linear control problems, named after Jørgen Pedersen Gram

Defining Formula: $\begin{matrix} W_{c} & \equiv & \sum_{j = 1}^{\infty} \int_{0}^{\infty} \dots \int_{0}^{\infty} P_{j} (t_{1}, \dots t_{j}) P_{j}^{*} (t_{1}, \dots t_{j}) d t_{1} \dots d t_{j} \\ P_{1} (t_{1}) & \equiv & e^{A t_{1}} i B \\ P_{j} (t_{1}, \dots, t_{j}) & \equiv & e^{A t_{j}} i N P_{j - 1} \end{matrix}$
$A$ symbol represents control system matrix A
$B$ symbol represents control system matrix B
$N$ symbol represents control system matrix N
$t$ symbol represents time
$W_{c}$ symbol represents controllability Gramian (generalized)

Item	Property
controllability Gramian (generalized)	symbol represents
Gramian matrix	specialized by
Lyapunov generalized controllability	symbol represents

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