Introduction to a special coordinate basis for multivariable linear systems

The features of a special co-ordinate basis for proper linear and time-invariant multivariable systems are illustrated in the paper. Through a particular choice of state, input and output co-ordinates, this special co-ordinate basis demonstrates the physical meaning and importance of finite and infinite zero structure, the conditions for the existence of right and left inverse systems, and how to construct right and left inverse systems when they exist