This erratum corrects errors in the originally published paper.

The equations listed in the original manuscript have been found to include several typographical errors that make it impossible to understand the proofs presented in the paper. In Eq. (18), appearing on page 4, matrix M should read
Similarly, matrix N defined in Eq. (19) should be
With these two corrections, identity (17) is proved easily
where negative and positive terms cancel out to yield the first equality and identities (16a) and (16b) are introduced to yield the second equality.
In Eq. (30) appearing on page 5, null space matrix V should read
Consequently, the general solutions of Eq. (32) take the forms given in Eqs. (34a) and (34b).
Finally, Eq. (32) appearing on page 5 and resulting from Eq. (28) should be