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S. Y. Kung, B. C. Levi, M. Morf and T. Kailath, “New Results in 2-D Systems Theory, Part II: 2-D State-Space Models-Realization and the Notions of Controllability, Observability, and Minimality,” Proceedings of IEEE, Vol. 65, No. 6, 1977, pp. 945-961.

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