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Updates to balred() and gram() - #118

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mdclemen:master

Jan 20, 2017

Commits on Jan 6, 2017
- balred() now has 'matchdc' option and may handle unstable systems and will accept a list of 'orders'. gram() now does Cholesky factored gramians if desired. Requires slycot routines AB09MD, AB09ND,…
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Commits on Jan 19, 2017
- Updated docstring for balred to remove abbreviations and better describe `alpha`. In balred(), if method='truncate' and the system is stable, slycot ab09ab is used, otherwise ab09md is used.
  mdclemen
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