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Please implement the minimal feedback controller of the Csete and Doyle Ssupplement using their Figure 2 and Equation 2 shown below. Note that the boxes

Please implement the "minimal feedback controller" of the Csete and Doyle Ssupplement using their Figure 2 and Equation 2 shown below.

Note that the boxes A and C need to be replaced by appropriate transformations to implemetn the dynamics of Equation 2.

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A: a' = gu 11 = r + x

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