Consider a system described byẋ = Ax + Buy = Cx + DuThe system is completely output controllable if and only ifWhere:x = State vector (n-vector)u = Control vector (r-vector)y = Output vector (m-vector)A = n × n matrixB = n × r matrixC = m × n matrixD = m × r matrix

• A. The matrix [ CB | CBA | CB2A| … | CBn-1 A | D ] is of rank n
• B. The matrix [ CB | CAB | CA2B | … | CAn-1 B | D ] is of rank m
• C. The matrix [ BC | BAC | BA2C | … | BAn-1 C | D ] is of rank m
• D. The matrix [ BC | ABC | CA2 B | … | CAn-1 B | D ] is of rank n