Consider the following plant,

a) Find a state-space representation for the plant.

b) Design an observer-based controller so that the closed-loop system is stable.

c) Find the closed-loop poles and verify that the closed-loop poles are the regulator poles

together with the observer poles.

d) Assume the initial conditions are: , , , plot the state response and

the output response for the closed-loop system.

e) Repeat a - d with the following plant

Y(s) = (6)