Errata: Explanation of the lack of zeros when B or C is full rank is confusing

Location: page 240, line -11

In the paragraph following equation (8.17), the text states that there are no zeros if either the $\text{[math]}$ or $\text{[math]}$ matrix is "full rank". This wording is misleading since a non-square matrix can be full rank without having fully independent rows (for $\text{[math]}$ ) or columns (for $\text{[math]}$ ). The text should read

Notice in particular that if the matrix $\text{[math]}$ has full row rank, then the matrix in equation (8.17) has $\text{[math]}$ linearly independent rows for all values of $\text{[math]}$ . Similarly there are $\text{[math]}$ linearly independent columns if the matrix $\text{[math]}$ has full column rank. This implies that systems where the matrix $\text{[math]}$ or $\text{[math]}$ is square and full rank do not have zeros. In particular it means that a system has no zeros if it is fully actuated\index{fully actuated systems} (each state can be controlled independently) or if the full state is measured.

(Contributed by S. Fuller, 29 April 2008)

Errata: Explanation of the lack of zeros when B or C is full rank is confusing

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