S. Chandrasekaran et al., A STABLE AND EFFICIENT ALGORITHM FOR THE INDEFINITE LINEAR LEAST-SQUARES PROBLEM, SIAM journal on matrix analysis and applications (Print), 20(2), 1998, pp. 354-362
We develop an algorithm for the solution of indefinite least-squares p
roblems. Such problems arise in robust estimation, filtering, and cont
rol, and numerically stable solutions have been lacking. The algorithm
developed herein involves the QR factorization of the coefficient mat
rix and is provably numerically stable.