In wntmg this monograph my aim has been to present a "geometric" approach to the structural synthesis of multivariable control systems that are linear, time-invariant and of finite dynamic order. The book is ad- dressed to graduate students specializing in control, to engineering scientists involved in control systems research and development, and to mathemati- cians interested in systems control theory. The label "geometric" in the title is applied for several reasons. First and obviously, the setting is linear state space and the mathematics chiefly linear algebra in abstract (geometric)...