No label defined (Q4338424)

The system the state of which is to be observed is \[ \dot x=Ax+ Bu,\quad y= Cx, \] where \(x\), \(u\), \(y\) are multivariable. Using orthogonal transformations, \((C,A)\) are transformed into block-upper Hessenberg form \((C_1,A_1)\). Then a row-reduced matrix \(D(s)\) is constructed; it has the desired invariant factors obeing the polynomial equation \(G_2X+ G_1Y=D(s)\). Finally, the output injection is \(L=YX^{-1}\). The method was tested using MATLAB.