Forney has recently given a definition of (nvariant) dynamical indices, for a proper transfer function matrix G(s), which are the same as the minimal indices (controllability indices) defined earlier. The dynamical indices can also be defined for non-proper 0(s), but are then no longer equal to the earlier indices. It is shown that in general the sum of the dynamical indices is the McMillan degree of G(s), and that they are invariant under an extended transformation of Brunovsky's type which includes output feedback.
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Rosenbrock et al. (1974) studied this question.
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