Start with a 2x2 steady state gain matrix K:

Compute the transpose K ^T:

Compute a new matrix A that is the product of the transpose and the original matrix:

Compute the quadratic coefficients for the polynomial characteristic equation A ? ?*I = 0 where "" denotes the determinant, ? is an eigenvalue matrix, and I is the identity matrix:

Compute the eigenvalues ?1 and ?2 as the two roots of the quadratic equation:

Compute the singular values ?1 and ?2 as the square root of the eigenvalues:

Compute the condition number K as the ratio of maximum to minimum singular values: