A closed-loop feedback system is to be designed to track a reference input. The desired feedback block diagram is shown in Figure DP11.3.The system model is given by

m = cx(t)
where

Design the observer and the control law to meet the following specifications:
1. The steady-state error of the closed-loop system to a unit step input is zero.
2. The gain margin G.M. ‰¥ 6 dB.
3. The bandwidth of the closed-loop system wB ‰¥ rad/s.
4. Select initial conditions for x and different initial conditions for x and simulate the response of the closed-loop system to a unit step input. Verify that the tracking error is zero in the steady-state.

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