A new balanced canonical form for stable multivariable systems

A new balanced canonical form is presented for stable continuous time multivariable linear systems. The new canonical form has a number of nice properties. The integer invariants that appear in the canonical form are the multiplicities of the Hankel singular values and a number of new invariants, which are in one-to-one bijective correspondence with the Kronecker indices of subsystems. Truncation ofthe state vector leads to stable minimal models in canonical form. In the SISO case the canonical form coincides with Ober´s balanced canonical form. The reachability matrix of a system in canonical form with identical singular values is positive upper triangular. For the class of stable multivariable all-pass systems a detailed treatment of the canonical form is presented