On the asymptotic stability of a dynamical system (Q700020)

The author considers the reference model \(x_{n+1}= A_Rx_n +B_Rp\), and the plant to be controlled is \(y_{n+1}=A_Dy_n+B_D\overline p\), where \(A_R\), \(B_R\), \(A_D\), \(B_D\) are constant matrices, \(x_n\) and \(y_n\) are the respective states, and \(p,\overline p\) their inputs. The author gives necessary and sufficient conditions for the asymptotic stability of the system.