A. Bunsegerstner et al., NUMERICAL-METHODS FOR SIMULTANEOUS DIAGONALIZATION, SIAM journal on matrix analysis and applications, 14(4), 1993, pp. 927-949
A Jacobi-like algorithm for simultaneous diagonalization of commuting
Pairs of complex normal matrices by unitary similarity transformations
is presented. The algorithm uses a sequence of similarity transformat
ions by elementary complex rotations to drive the off-diagonal entries
to zero. Its asymptotic convergence rate is shown to be quadratic and
numerically stable. It preserves the special structure of real matric
es, quaternion matrices, and real symmetric matrices.