Observable canonical form method

The method of matrix projection was introduced, in the context of balance equations, by Crowe et al. (1983). The observability/ redundancy classification criteria were clearly formulated also by Crowe (1989). The transformation of the set of linear equations to canonical format was presented in Madron (1992), Section 4.2, and in special form with more details in Madron and Veverka (1992). 

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