Table 1.

Notations and specifications.

Notations	Specification
${\mathbb{R}}^n$	Euclidean space of $n$ dimensions
${\mathbb{R}}^{m\times n}$	The real $m\times n$ matrices
$P>0$	$P$ is symmetric and positive-definite
$P\ge 0$	$P$ is symmetric and positive semi-definite
$P^T$	$P$ represents the transpose of the matrix