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MR1342589 (96d:65060a) 65F15 (65-04)
Demmel, James; Kågström, Bo The generalized Schur decomposition of an arbitrary pencil $A-\lambda B$: robust software with error bounds and applications. I. Theory and algorithms. ACM Trans. Math. Software 19 (1993), no. 2, 160--174.
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