2. (25%) Consider the following continuous LTI system and controller: x = Ax+Bu [2 X- - 0 1 x u (a) Is the open loop system stable? (b) Is the pair (A,B) controllable? u=Kx+k,= k k +k (c) If possible, find a vector K that makes the system stable with eigenvalues of -1, -2. (d) If the feedforward gain is constant and nonzero, find the equilibrium point for the system.