Which of the following is a necessary and sufficient condition for two real $3\times 3$ matrices $A$ and $B$ to be similar $($i.e., $PAP^{-1}=B$ for an invertible real $3\times 3$ matrix $P)$?
- They have the same characteristic polynomial
- They have the same minimal polynomial
- They have the same minimal and characteristic polynomials
- None of the other three conditions