Output Feedback Invariants
  The paper is concerned with the problem of determining a complete set of invariants for output feedback. Using tools from geometric invariant theory it is shown that there exists a quasi-projective variety whose points parameterize the output feedback orbits in a unique way. If the McMillan degree $n\geq mp$, the product of number of inputs and number of outputs, then it is shown that in the closure of every feedback orbit there is exactly one nondegenerate system. 
M. S. Ravi, Joachim Rosenthal, Uwe Helmke