On computing normalized-coprime factorizations of general rational matrices

Presents a numerically reliable approach for computing the normalized-coprime factorization of an arbitrary (possibly improper) rational matrix. We consider both the cases in which the factorization is coprime and normalized with respect to either the left-half plane or the unit disk, corresponding to systems with continuous- or discrete-time evolutions. The proposed algorithm remedies the numerical drawbacks of alternative methods available thus far in the literature.