Thanks for providing the reference. From your reference, chapter 5, p.184, it discusses how you can obtain estimate for the IPACF, in the second paragraph right after equation 5.3.4. You may follow the discussed methods there to obtain the estimated IPACF, for example, for the first method discussed, 'replace the rho_i,k by sample IACF r_i,k, and solve the inverse Yule-Walker equations for the estimated theta_k,k', you only need to have the sample IACF r_i,k , which you can obtain in PROC ARIMA, you can then solve the inverse Yule-Walker equations (5.3.4) to get the estimated theta_k,k.
I hope this helps.