Let n R be the n-dimensional Euclidean space, nm R × the set of nm × real matrix, * the symmetric part in a matrix, I the identity matrix with appropriate dimensions, { } diag " the diagonal matrix. By 0 A> we mean that A is a real symmetric positive definitive matrix. Let , ([ ,0], ) n nhL L h R =− denote the Banach space of continuous functions mapping the interval [ ,0] h− into n R with the topology of uniform convergence.