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2. (20pts) Consider the state-space system of problem I. Solve the LOR problem to determine the optimal controller that minimizes the cost function ((x] -

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2. (20pts) Consider the state-space system of problem I. Solve the LOR problem to determine the optimal controller that minimizes the cost function ((x] - x7)7 - 0.lu )de a) (5pts) Determine the Q matrix and the parameter r from the cost-function above. b) (10pis) Solve the LOR problem to determine the optimal controller gains. c) (Spts) Determine the location of the closed-loop poles

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