Applications of the comrade matrix to linear multivariable systems theory

The comrade matrix is a generalization of the companion matrix, and arises when a polynomial is expressed in terms of a basis set of orthogonal polynomials. The work begun in a previous paper is here continued for multivariable systems, and a number of generalizations of standard results are described. Topics covered include controllability, canonical forms, polynomial and state-space realizations and linear feedback. The flexibility offered by an arbitrary choice of basis promises to be useful for applications.