Petersen, Ian R.2026-07-022026-07-02142441498997814244149870743-1546ORCID:/0000-0003-4856-9450/work/219057260https://hdl.handle.net/1885/733812276This paper considers the structure of uncertain linear systems building on concepts of robust unobservability and possible controllability which were introduced in previous papers. For a class of uncertain linear systems, the paper presents a new characterization of the possibly controllable states. When combined with previous geometric results on robust unobservability, this leads to a Kalman type decomposition for uncertain linear systems.7en200710.1109/CDC.2007.443454462749117630