The equation of motion of a discrete linear system has the form of a second-order ordinary differential equation with three real and square coefficient matrices. It is shown that, for almost all linear systems, such an equation can always be converted by an invertible transformation into a canonical form specified by two diagonal coefficient matrices associated with the generalized acceleration and displacement. This canonical form of the equation of motion is unique up to an equivalence class for non-defective systems. As an important by-product, a damped linear system that possesses three symmetric and positive definite coefficients can always be recast as an undamped and decoupled system.

A comprehensive study is reported herein for the evaluation of Lagrangian functions for linear systems possessing symmetric or nonsymmetric coefficient matrices. Contrary to popular beliefs, it is shown that many coupled linear systems do not admit Lagrangian functions. In addition, Lagrangian functions generally cannot be determined by system decoupling unless further restriction such as classical damping is assumed. However, a scalar function that plays the role of a Lagrangian function can be determined for any linear system by decoupling. This generalized Lagrangian function produces the equations of motion and it contains information on system properties, yet it satisfies a modified version of the Euler-Lagrange equations. Subject to this interpretation, a solution to the inverse problem of linear Lagrangian dynamics is provided.