Dear Kazuya Sato,
I think the two equations are identical, so there is no error.
The difference between the two equations is in the terms
S^(-1)D^(T) = (I + D^T D)^(-1) D^T
and
D^(T)R^(-1) = D^T (I + D D^T)^(-1)
But these are identical, since in general (I+AB)^-1 A = A (I+BA)^-1,
see the push-through rule in eq(3.1).
Best regards,
Sigurd Skogestad
Received on Wed Sep 11 09:23:45 1996
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