“…The problem of obtaining a suitable matrix K such that A + BK has all eigenvalues at zero is analogous to finding a deadbeat gain in the context of static state feedback. A numerically reliable way of computing a deadbeat feedback gain in the multi-input case is not a trivial task, but the problem has been addressed by several authors (Dooren, 1984;Emami-Naeini and Franklin, 1982;Sujimoto, Inoue, and Masuda, 1993). These methods start by transforming the original system into the controllability staircase form (Dooren, EmamiNaeini, and Silverman, 1979)(ctrbf in Matlab), which unlike the controller canonical form, can be obtained through well-conditioned unitary transformations.…”