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By Andreescu T., Feng Z.

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Then O(D(1)) = O(A), and 47 [o(D(X)[ - [o(A)[ = n • [ denotes the cardinality o f the s e t . 3 we have (3. lOs) D(X) = Dr(X)Ur(X) where D (k) r is a column-reduced canonical k-matrlx~ and Ur(X) is unimodular. 5 follow. 2 of left [17-19] generalized latent Let X. be a latent root of D(X). 11a) (D(k) (Xi))Tpi(j -k) " 0mx 1 D(k)(x)~d(k)D(X)/dX k = k-th derivative o£ D(X) with respect to I The scalar ~i is named the length of the Jordan chain [41]. 11c) (DCk) k=0 kT (Ai))qi(j-k) The v e c t o r s TM Omxl Pi0 and qi0 are r e f e r r e d to as the primary l e f t and r i g h t l a t e n t vectors, respectively, We s h a l l first n present column-reduced c a n o n i c a l the p r o p e r t i e s k-matrlces, of l e f t / r l g h t and the r e l a t i o n s Jordan c h a i n s of the to the e l g e n v e c t o r s of the system maps i n t h e i r a s s o c i a t e d minimal r e a l i z a t i o n q u a d r u p l e s .

Denotes the number x of crosses at the ith row of the Young diagram of a minimal nice selection YH' the set K = {~i,l~i~m} associated with YM" is the Kronecker indices of the reachable pair (A,B) Note that K i may be zero for some i. , and each minimal All nice selection the controller results one controller f o r m s and a s s o c i a t e d canonical controller selection sequence as follows. 7 in form and associated RHFDs a r e f o r m and one a s s o c i a t e d equivalent. canonical RHFD, we RMFD.

A . 0 o;~ 2 O~pX(Gl-l) I . 0 • • A ; " i P (3o6b) (Aog) i ~ The i t h column of A0g, i ~ l , . . , p . ~o ~ *o(°) o6o) A T. DO -~ cO; 0 ^ Eco ~ [ec01, ^ : c02 ,"- . 6e) ^ (A0,Bo,Co,D 0) is referred to as an observer (not canonical resli-atio, of A-I(x). e. 7) A-IcA) . C(kIn-A)-IB+D Theorem 3 . 2 quadruple L e t A(A) b e a r o w - r e d u c e d A - m a t r l x , (A,B,C,D). Let D~(A) b e the left which can be realized, characteristic A-matrlx using a o£ ( A , C ) . 8) UECA)D~CA) where UE(A) is a unimodular A-matrix, UE(A) = [$~(A)T;IB+D~(A)D] -I, T O and ~E(k) are defined in Eqs.

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