An algorithm for companion form realization
Chia-Chi Tsui, C. T. Chen · International Journal of Control · 1983
A simple procedure which employs only numerically stable steps is described in this paper, to obtain a minimal realization for a proper transfer function matrix. The resulting realization is in a companion form (or in the so-called Luenberger canonical form) and is obtained via the Hankel matrix. A comparison with existing methods is provided.