We consider the problem of learning a realization for a linear time-invariant (LTI) dynamical system from input/output data. Given a single input/output trajectory, we provide finite time analysis for learning the system's Markov parameters, from which a balanced realization is obtained using the classical Ho-Kalman algorithm. By proving a stability result for the Ho-Kalman algorithm and combining it with the sample complexity results for Markov parameters, we show how much data is needed to learn a balanced realization of the system up to a desired accuracy with high probability.
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