Invariant factor of a finitely generated module ($d_1\mid \cdots \mid d_k$)

For a finitely generated module over a principal ideal domain, its invariant factors are nonzero nonunits $d_i$ in a decomposition $M\cong R^r\oplus {⨁}_{i}R/(d_i)$, ordered by $d_i\mid d_{i+1}$. They are unique up to multiplication by units and describe the torsion submodule. Over $F[t]$, making $t$ act as a linear operator recovers the invariant factors of a linear operator used in its rational canonical form.