Minimal positive realizations of transfer functions with positive real poles

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A tutorial on the positive realization problem (2004, background): “Some preliminary results are provided in [121] for the case of third order transfer functions with distinct positive real poles, and by Commault in [2].”
Positive state‐bounding observer for positive interval continuous‐time systems with time delay (2012, background): “The problem of positive realization has been extensively studied in the past few decades [9, 10], and a good tutorial can be found in [7].”