symbolic expression for eigenvalues and eigenvectors of a system implemented in casadi

sym_eigen.py

def qr_eigen(A, iterations=100):
    pQ = SX.eye(A.size1())
    X = copy.deepcopy(A)
    for _ in range(iterations):
        Q, R = qr(X)  # QR decomposition in CasADi
        pQ = pQ @ Q # Update eigenvector matrix for next iteration
        X = R @ Q  # Update eigenvalue matrix for next iteration
    return diag(X), pQ    
    
# example usage for a symbolic SX square matrix in casadi    
    
 w_sym , v_sym = qr_eigen(M, 100)  # This get the symbolic eigenvalues and eigenvector expression