A method to obtain the semi-canonical Morse's form of a linear multivariable system

A method is presented in this paper to obtain an element of a transformation group, which takes a state space representation of a linear multivariable system to its semi-canonical Morse's form. The system under consideration is supposed to be right invertible, controllable and with no invariant zeros. The element of the transformation group involves state feedback, permutation of outputs and change of basis in states and inputs.