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MR479506 (57 #18930) 93B15
Kalman, R. E.; Hautus, M. L. J. Realization of continuous-time linear dynamical systems: rigorous theory in the style of Schwartz. Ordinary differential equations (Proc. NRL-MRC Conf., Math. Res. Center, Naval Res. Lab., Washington, D.C., 1971), pp. 151--164. Academic Press, New York, 1972.
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