4. A two-compartment control system for drug delivery can be modelled as Ci ( )-(37)(+() "i ci c2 2 -2 -1 1 + 0 1 u, y = C1, C2 where ci and C2 are the concentrations of the drug in each compartment, u determines the flow rate of the drug into compartments 1 and 2 and y is the concentration of the drug in compartment 2. (a) Investigate if the system is observable and/or reachable. 8 Marks (b) Design a control function Ci u=-Kc+ krr, for K = ( ki k2 ), c= C2 where ki, k2, ky are the control parameters, such that the desired output y=r = 4 and the closed loop eigenvalues for the system are 11 = -2 and 12 = -1. 12 Marks