emgr - EMpirical GRamian Framework. In control and system theory the system Gramian matrices of linear input-output systems have wide-spread use, for example in: model reduction, decentralized control, optimal placement, sensitivity analysis or parameter identification. Empirical Gramian matrices correspond to the (linear) system Gramians, but extend to parametric and nonlinear systems due to their data-driven computation. The empirical Gramian framework is a compact open-source toolbox compatible with MATLAB and OCTAVE.

This software is also referenced in ORMS.