A method for binaural reproduction over loudspeakers using low-order modeled head-related transfer functions (HRTFs) is proposed. The low-order modeling consists of two steps: high-order model estimation using a prediction error method and subsequent model reduction based on asymptotic theory. Binaural processing over loudspeakers using the low-order modeled HRTFs is done in the time domain. In general, the directly derived controller for crosstalk cancellation is unstable, and so a method for approximating the unstable components in the controller as stable ones with processing delays is proposed. Results of computer simulation indicated that the designed controller worked well for producing equalization and crosstalk cancellation.
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