A common approach in model reduction is balanced truncation, which is based on Gramian matrices classifying certain attributes of states or parameters of a given dynamic system. Initially restricted to linear systems, the empirical Gramians not only extended this concept to nonlinear systems but also provided a uniform computational method. This work introduces a unified software framework supplying routines for six types of empirical Gramians. The Gramian types will be discussed and applied in a model reduction framework for multiple-input multiple-output systems.
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