Ober, Raimund J. (1987) Balanced realizations: Canonical form, parametrization, model reduction. International Journal of Control, 46 (2), 643-670. (doi:10.1080/00207178708933920).
Abstract
Balanced realizations are used to construct a canonical form for the set of minimal and asymptotically stable MIMO systems of a given order. A parametrization resutt is derived that allows us to show a truncation property of this canonical form.
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