Eg. Collins et As. Hodel, EFFICIENT SOLUTION OF LINEARLY COUPLED LYAPUNOV EQUATIONS, SIAM journal on matrix analysis and applications, 18(2), 1997, pp. 291-304
A numerical procedure is presented for the efficient solution of sets
of linearly coupled matrix Lyapunov equations. Such equations arise in
numerical continuation methods for the design of robust and/or low-or
der control systems.