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  1. A = [A11 A12; A21 A22]
  2. P = -A22 - A11;
  3. Q = A11*A22-A12*A21;
  4. lambda1 = -(P/2) + sqrt((P/2).^2 - Q);
  5. lambda2 = -(P/2) - sqrt((P/2).^2 - Q);
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