"(2.29),(2.30) and thanks to the stability of A, these last expressions become a = (
jw I – A). "Bw (2.33) y = -(jw I + A*)T'C'z ... It follows that to B(*I-D'D) 'B'r = 0 so that
B'a = 0 thanks to the fact that (*I-D'D)- > 0. The conditions a # 0, Re(X) > 0, ..."
Vehicle Dynamics Theoryand Application by Reza N. Jazar 1,066 Pages, Published 2013 by Springer Science & Business Media ISBN-13: 978-1-4614-8544-5, ISBN: 1-4614-8544-4
Advances in Industrial Control Ser.(2nd Edition) Model-Based Fault Diagnosis Techniques : Design Schemes, Algorithms and Tools by Steven X. Ding Paperback, 505 Pages, Published 2014 ISBN-13: 978-1-4471-4799-2, ISBN: 1-4471-4799-5