Kybernetika 39 no. 2, 217-228, 2003

Minimal positive realizations: a survey of recent results and open problems

Luca Benvenuti and Lorenzo Farina


In this survey paper some recent results on the minimality problem for positive realizations are discussed. In particular, it is firstly shown, by means of some examples, that the minimal dimension of a positive realization of a given transfer function, may be much "larger'' than its McMillan degree. Then, necessary and sufficient conditions for the minimality of a given positive realization in terms of positive factorization of the Hankel matrix are given. Finally, necessary and sufficient conditions for a third order transfer function with distinct real positive poles to have a third order positive realization are provided and some open problems related to minimality are discussed.