MIMO systems-transfer function to state-space

In this short note we present a very simple method, useful for classroom teaching, to get a minimal state-space representation (with the exception of systems where there is a pole-zero cancellation) from a transfer function matrix. The method is direct and does not involve the intermediate step of obtaining nonminimal realization-which further requires system reduction routines-and hence is suitable as a compact self-contained topic which has been hitherto neglected in undergraduate linear control theory curriculum.