 Controllability matrix

For the linear time-invariant system $\dot{x}=Ax+Bu$, with $A\in {\mathbb{R}}^{n\times n}$ and $B\in {\mathbb{R}}^{n\times m}$, the controllability matrix has $n$ rows and $nm$ columns. The columns of $B$ are directions influenced directly by the control inputs; $AB,A^{2}B,\dots$ account for how the dynamics carry their influence into further directions. The column space of the controllability matrix is the zero-state reachable set for any $T>0$ when inputs are unrestricted. ^[ref]