“…The matrix B is Hurwitz by choosing the suitable coefficients of the Hurwitz polynomials i,1 ( ) and i,2 ( ). 18,31 Therefore, there are a positive definite matrix P = diag [P 1 , P 2 , … , P N ] , P i ∈ R 2n×2n , i = 1, 2, … , N, and two positive constants and , such that…”