@article{BaV:02,
  author =	 {V. Balakrishnan and L. Vandenberghe},
  title =	 {Semidefinite programming duality and Linear Time-Invariant
systems},
  journal =	 tac,
  year = 2003,
  month =	 jan,
  volume =	 {AC-48},
  number =	 1,
  pages =	 {30-41}
}