Hk. Wimmer, Existence of unmixed solutions of the discrete-time algebraic Riccati equation and a nonstrictly bounded real lemma, SYST CONTR, 43(2), 2001, pp. 141-147
The existence of a solution of the discrete-time algebraic Riccati equation
is established assuming modulus controllability and positive semidefiniten
ess on the unit circle of the Popov function. As an application a nonstrict
ly bounded real lemma is obtained. (C) 2001 Elsevier Science B.V. All right
s reserved.