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First commit of balred2() added to modelsimp.py. - #78

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Commits on Feb 26, 2016
- First commit of balred2() added to modelsimp.py.
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  e5f49a3
Commits on Mar 8, 2016
- Added ability to do balanced realization and truncation of unstable systems to balred.
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  f9584cd
- Balred() now will return a vector of reduced models if orders is passed as a vector.
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Commits on Aug 17, 2016
- Added functionality to balred() in modelsimp.py. Now does stable and unstable systems along with 'matchdc' gain option. Also added option to gram() to return cholesky factored gramian.
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