Errata: Explanation of the lack of zeros when B or C is full rank is confusing
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Location: page 240, line -11
In the paragraph following equation (8.17), the text states that there are no zeros if either the B or C matrix is "full rank". This wording is misleading since a non-square matrix can be full rank without having fully independent rows (for B) or columns (for C). The text should read
Notice in particular that if the matrix B has full row rank, then the matrix in equation (8.17) has n linearly independent rows for all values of s. Similarly there are n linearly independent columns if the matrix C has full column rank. This implies that systems where the matrix B or C 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)
