which is in the general state-space form
as needed (Eq.(1.8)). We can see that is already a
Jordan block of order 2 [449, p. 368]. (We can change the
to 1 by scaling the physical units of .) Thus, the system
is already as diagonal as it's going to get. We have a repeated pole
at , and they are effectively in series (instead of parallel),
thus giving a ``defective'' matrix [449, p. 136].