@article{ferrante2013-1,
	author="A. Ferrante and L. Ntogramatzidis",
	title="The generalised discrete algebraic Riccati equation in linear-quadratic optimal control",
	journal="Automatica",
	year="2013",
	pages="471-478",
	volume="49",
	issn="0005-1098",
	note="doi =  10.1016/j.automatica.2012.11.006"
}