An observation on the positive real lemma (Q5934248)

A linear exponentially stable system \[ \dot x= Ax+ Bu,\quad y= Cx+ Du,\quad x\in\mathbb{R}^n,\quad u, y\in\mathbb{R}^m \] with square transfer matrix \(T(s)= C[Is- A]^{-1} B+D\) is considered. It is not assumed that the system is controllable and observable. Necessary and sufficient conditions are established under which the transfer matrix is a real positive matrix.