References

[AMH09]Awad H Al-Mohy and Nicholas J Higham. A new scaling and squaring algorithm for the matrix exponential. SIAM Journal on Matrix Analysis and Applications, 31(3):970–989, 2009.
[Bre13]Richard P Brent. Algorithms for minimization without derivatives. Courier Corporation, 2013.
[Lau79]Alan Laub. A schur method for solving algebraic riccati equations. IEEE Transactions on automatic control, 24(6):913–921, 1979.