| {\mathcal{M}}_{n}=\left[{\begin{array}{cccccc}{\mathbf{J}}&{\mathbf{H}_{2}}&{\mathbf{H}_{1}}&{\mathbf{H}_{0}}&{\mathbf{a}_{2}}&{\mathbf{a}_{1}}\\{\mathbf{0}}&{-\mathbf{J}^{\intercal}}&{\mathbf{I}}&{\mathbf{0}}&{\mathbf{0}}&{\mathbf{0}}\\{\mathbf{0}}&{\mathbf{0}}&{-\mathbf{J}^{\intercal}}&{\mathbf{I}}&{\mathbf{0}}&{\mathbf{0}}\\{\mathbf{0}}&{\mathbf{0}}&{\mathbf{0}}&{-\mathbf{J}^{\intercal}}&{\mathbf{0}}&{\mathbf{0}}\\{\mathbf{0}}&{\mathbf{0}}&{\mathbf{0}}&{\mathbf{0}}&{0}&{1}\\{\mathbf{0}}&{\mathbf{0}}&{\mathbf{0}}&{\mathbf{0}}&{0}&{0}\end{array}}\right]\in\mathbb{R}^{(4d+2)\times(4d+2)}, |
