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An intrinsic M-channel lifting factorization of perfect reconstruction filter banks (PRFBs) is presented as an extension of Sweldens' conventional two-channel lifting scheme. Given a polyphase matrix E(z) of a finite-impulse response (FIR) M- channel PRFB with det(E(z))=z-K, K∈Z, a systematic M-channel lifting factorization is derived based on the Monic Euclidean algorithm. The M-channel lifting structure provides an efficient factorization and implementation; examples include optimizing the factorization for the number of lifting steps, delay elements, and dyadic coefficients. Specialization to paraunitary building blocks enables the design of paraunitary filter banks based on lifting. We show how to achieve reversible, possibly multiplierless, implementations under finite precision, through the unit diagonal scaling property of the Monic Euclidean algorithm. Furthermore, filter-bank regularity of a desired order can be imposed on the lifting structure, and PRFBs with a prescribed admissible scaling filter are conveniently parameterized.