Consider the following simultaneous system
$$ y_{1} =\beta _{1}y_{2}+\alpha _{1}z+u_{1} \\ y_{2} =\beta _{2}y_{1}+\alpha _{2}z+u_{2} $$
where $y_{1}$, $y_{2}$ and $z$ are vectors of random variables each of length $n$. $u_{1}$ and $u_{2}$ are disturbances and all greek letters are coefficients to be estimated.
The Wikipedia entry on the simultaneous equation model mentions the possibility to estimate all simultaneous equations at once. For large systems, this will be computationally costly but for smaller ones this seems a reasonable alternative.
Question: How can we estimate the system above at once?
I had a look at a couple of econometrics books (e.g. Wooldridge, Introductory Econometrics; or Greene, Econometric Analysis) but I couldn't find any information about jointly determining all coefficients in the system. But maybe I have been looking just at the wrong places.