We organise the constraints introduced in the previous section in the following four systems:
Each system is a linear homogeneous system subject to a quadratic constraint, that is,
where
is a vector composed by the the first three components of
x
, and
k
is a real number. The four systems above are solved in sequence; the
solution of each can be computed using the decomposition of
suggested by [
4
], or casting the problem as a
generalised eigenvector problem
.
Adrian F Clark