 + XB = C.
      IEEE Trans. Auto. Contr., AC-24, pp. 909-913, 1979.

  [2] Sima, V.
      Algorithms for Linear-quadratic Optimization.
      Marcel Dekker, Inc., New York, 1996.

</PRE>
<A name="Numerical Aspects"><B><FONT SIZE="+1">Numerical Aspects</FONT></B></A>
<PRE>                                      3       3      2         2
  The algorithm requires about (5/3) N  + 10 M  + 5 N M + 2.5 M N
  operations and is backward stable.

</PRE>

<A name="Comments"><B><FONT SIZE="+1">Further Comments</FONT><