[-1 0 0] I. Kalman Decomposition: Let A=0 10 C = [1 1 1] 000 a) Obtain the Kalman Decomposition Analog Wiring Diagram and identify the subsystems b) Obtain a minimal-order controllable & observable subsystem and its transfer function c) Calculate the transfer function T(s) = C(sI-A)' B and compare with (b).