Consider a transfer function (s- 1)(s+2) (s + 1) (s-2)(s + 3) Using full-state feedback u = Kar+r, is it possible to obtain the closed-loop transfer function (S-1) (s+ 2) (s + 4) Gyu (8)= Gyr (s) = -? If yes, explain how it can be done? Where would one want to place the closed-loop poles? You do not need to compute the gain K.