De Re Militari has a review of David J. Hay's The military leadership of Matilda of Canossa, 1046-1115, Manchester University Press, 2008. Which in turn links to a PDF of his chapter three.
Matilda is fascinating as a well documented woman warrior for the way we still quibble about what was documented about her. We have now lost but well attested armor made for her. We know that she was trained in the military arts. We have accounts which say that she took to the battlefield in person - but despite these, most books doubt that she did. Living in an era when leaders still fought in battle, she is likely to have done so too, and contributed to her many victories in person.
This image from the Vatican Codex of the Vita Mathildis shows Matilda herself receiving a copy of it.