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Any convergence rule for ${\mathbf X}_k={\mathbf A}{\mathbf X}_{k-1}{\mathbf B}$?

We know iteration ${\mathbf X}_k=\mathbf{A}{\mathbf X}_{k-1}$ converges if the spectral radius of $\mathbf A$ is smaller than 1 (see here). Is there any known rule for iteration ${\mathbf X}_k={\mathb …