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MR504107 (58 #20667) 93B15
Kalman, R. E. Realization theory of linear dynamical systems. Control theory and topics in functional analysis (Internat. Sem., Internat. Centre Theoret. Phys., Trieste, 1974), Vol. II, pp. 235--256. Internat. Atomic Energy Agency, Vienna, 1976.
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