Errata: In the last paragraph of Section 7.1, "reachable" should be replaced by "observable"
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Location: page 206, line 10, 11
The last two sentences of the section should use the term "observable" rather than "reachable". The correct sentences are
This is useful for proofs since it lets us assume that a system is in observable canonical form without any loss of generality. The observable canonical form may be poorly conditioned numerically.
(Contributed by L. Xiong, 23 Dec 08)