A parameterization of minimal plants
The authors present the input-normal Riccati parameterization which allows a minimal plant (A, B, C, D) to be represented completely by its B, C, and D matrices. In addition to the basic parameterization, they present useful gradient expressions for a cost functional J(A, B, C, D) when the plant is restricted to the input-normal Riccati form. The parameterization is valid for both stable and unstable, and continuous-time and discrete-time systems.
Davis, L.↗