Rational canonical form under an affine change ($f(t)\mapsto a^{\mathrm{deg}f}f((t-b)/a)(a\ne 0)$)

Let $U=aT+bI$ on a nonzero finite-dimensional vector space over a field, with $a\ne 0$. An invariant block for $T$ is also invariant for $U$. If $v,Tv,\dots ,T^{d-1}v$ is its cyclic vector basis, then $v,Uv,\dots ,U^{d-1}v$ is another basis: the binomial theorem gives a triangular change-of-basis matrix with diagonal $1,a,\dots ,a^{d-1}$. The monic polynomial $g(t)=a^{d}f((t-b)/a)$ annihilates this block, and its degree is $d$, so it is the block's minimal polynomial. In the new cyclic basis the block is $C(g)$.

The substitution preserves divisibility of the monic invariant factors of a linear operator. Apply it to every block to obtain the rational canonical form of $U$. If $a=0$, then $U=bI$ is a scalar matrix instead: all invariant factors are $t-b$, one for each dimension. This exceptional case cannot be obtained by dividing by $a$.