Geodesic
On the theory of canonical forms for control systems with delay
Sbornik. Mathematics, Tome 34 (1978) no. 3, pp. 357-366
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Some canonical forms for pointwise controllable systems with retarded argument are considered. Bibliography: 4 titles. 
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V. M. Marchenko. On the theory of canonical forms for control systems with delay. Sbornik. Mathematics, Tome 34 (1978) no. 3, pp. 357-366. http://geodesic.mathdoc.fr/item/SM_1978_34_3_a4/

[1] R. Kalman, “Ob obschei teorii sistem upravleniya”, Trudy I kongressa IFAK po avtomaticheskomu upravleniyu, t. 2, izd-vo AN SSSR, Moskva, 1961

[2] V. M. Marchenko, O minimalnom chisle vkhodov otnositelno upravlyaemykh sistem s posledeistviem, Avtoreferat kand. dissertatsii, Minsk, 1974

[3] R. Gabasov, F. M. Kirillova, Kachestvennaya teoriya optimalnykh protsessov, izd-vo “Nauka”, Moskva, 1971 | MR

[4] K. Ramar, B. Ramaswami, “Transformation to canonical forms”, Electronic letters, 1964, no. 24, 611–613