12 4 -81 0 i=1 0 4 x +10 0u LO -1 4 (10) y = [ 001]x a) Design a state-feedback control in the form of u(t) = -k+x(C) + Fr(1) to place the eigenvalues of the closed-loop system at 1,2 = -0.5 + j and = 0.7 and track a given constant reference and use MATLAB to plot the response of the system to see whether y(U) asymptotically tracks the reference signal (This is a repeat from Mini-project 1) b) Design an observer to estimate the state of the system. 12 4 -81 0 i=1 0 4 x +10 0u LO -1 4 (10) y = [ 001]x a) Design a state-feedback control in the form of u(t) = -k+x(C) + Fr(1) to place the eigenvalues of the closed-loop system at 1,2 = -0.5 + j and = 0.7 and track a given constant reference and use MATLAB to plot the response of the system to see whether y(U) asymptotically tracks the reference signal (This is a repeat from Mini-project 1) b) Design an observer to estimate the state of the system