N. Sadegh et al., AN EXPLICIT METHOD FOR COMPUTING THE POSITIVE REAL LEMMA MATRICES, International journal of robust and nonlinear control, 7(12), 1997, pp. 1057-1069
This paper presents an explicit non-iterative method for computing the
positive real matrices and Youla's spectral factorization of a MIMO S
PR system. All the computations are performed based on a minimal state
space realization (A, B, C, D) with no restriction on D. The algorith
m is tested on a seventh order MIMO system. (C) 1997 by John Wiley & S
ons, Ltd.