4) Design a full-order observer to estimate the states and the disturbance, d. Feed back the state estimates rather than the actual states. (block diagram below) Give the state-space matricies for the resulting plant, servo compensator, observer, and full-state feedback {A, B, C, D) 5) Simulate the response of the linear system (full-order observer with the servo compensator) for A sinusoidal set point (R(t) = sin(1.5t), d=0), and A step change in the disturbance (d=10, R=0) 6) Simulate the response of the nonlinear system (full-order observer with the servo compensator) for R(t) = sin(1.5t) and d = 10 using U=-Kz*Z - Kx*X (using the actual states), and U=-Kz"Z - Kx*Xe (using the state estimtes) Bd R N Bz A Az plant do Servo Compensator H Bd Xo Yo B c A observer -Kx controller -K Block diagram for the Plant, Servo Compensator, Disturbance, Observer, and Full-State Feedback 4) Design a full-order observer to estimate the states and the disturbance, d. Feed back the state estimates rather than the actual states. (block diagram below) Give the state-space matricies for the resulting plant, servo compensator, observer, and full-state feedback {A, B, C, D) 5) Simulate the response of the linear system (full-order observer with the servo compensator) for A sinusoidal set point (R(t) = sin(1.5t), d=0), and A step change in the disturbance (d=10, R=0) 6) Simulate the response of the nonlinear system (full-order observer with the servo compensator) for R(t) = sin(1.5t) and d = 10 using U=-Kz*Z - Kx*X (using the actual states), and U=-Kz"Z - Kx*Xe (using the state estimtes) Bd R N Bz A Az plant do Servo Compensator H Bd Xo Yo B c A observer -Kx controller -K Block diagram for the Plant, Servo Compensator, Disturbance, Observer, and Full-State Feedback