Chapter 6 10 Theorem:If all the eigenvalues of a system are different,then the system can be transformed to the following form using similarity transformation.The system is controllable if there is no all zero row in B. 0 heory10 Theorem: If all the eigenvalues of a system are different, then the system can be transformed to the following form using similarity transformation. The system is controllable if there is no all zero row in . x x  Bu              n λ λ λ 0 0 2 1   B Chapter 6