“…In the following, we use matrix diagonalization in Eq. (20) to expressX in terms of the poles of the system. For s 1 , s 2 ∈ N and A i ∈ C s i ×s i , i = 1, 2, which are diagonalizable, i.e., for t i = 1, 2, ..., s i , i = 1, 2, and some invertible T i ∈ C s i ×s i , we have the diagonal matrixĀ i :=…”