Example 6 If $x, y$ are real numbers, find the minimum value of $S=5 x^{2}-4 x y$ $+y^{2}-10 x+6 y+5$.
Solution: From the given, we have
$$
\begin{array}{l}
5 x^{2}-(10+4 y) x+y^{2}+6 y+5-S=0 . \\
\Delta_{x}=-4\left(y^{2}+10 y-5 S\right) \geqslant 0 . \\
\text { Hence, } 5 S \geqslant y^{2}+10 y=(y+5)^{2}-25 \\
\quad \geqslant-25 .
\end{array}
$$

Thus, $5 S \geqslant y^{2}+10 y=(y+5)^{2}-25$
$\therefore S \geqslant-5$, so the minimum value of $S$ is -5.