Assignment of Invariant and Transmission Zeros in Linear Systems

The paper generalizes the result of Rosenbrock on the assignment of invariant and transmission zeros from systems (
A
,
B
,
C
, 0) with equal number of inputs and outputs to general (
A
,
B
,
C
,
D
) quadruples. The generalization, while straightforward, improves the solvability conditions and leads to a new construction of C and D matrices having least number of rows.