4. Consider the three-dimensional, single-inputsingleoutput system of the form 3?: : A1: + bu, y : 63:, where {in | | O D |' v1 Dl vI |' D |' b=(001)T,a.ndc=(001). (a) Find a Kalman decomposition (i.e., a basis comprised of vectors classied as co, (:5, (30, or 55), compute the corresponding minimal realization, and use it to derive the system's inputoutput transfer function