(a) Draw a state diagram for the following state equations:

dx1(t)

-;It = -2x1 (t) + 3x2(t)

dx2(t)

-;It= -Sx1(t)- Sx2(t) + 2r(t)

(b) Find the characteristic equation of the system.

(c) Find the transfer functions X1(s)jR(s) and X2(s)jR(s).

Problem