In many places, results about Polyhedral sets (for example the Characterization Theorem of Polyhedral sets) are proved for the canonical polyhedral set $\{x \in \mathbb R^n: Ax = b\}$ with $b\in \mathbb R^m \text{and} \ rank(A)=m$. How does one convert a general polyhedral set (in some $\mathbb R^k$) to this form?
EDIT: The canonical form $\{x \in \mathbb R^n: Ax = b, x\ge0\}$ is also used sometime. How to also convert it to this form?