Consider the system in state variable form

y = [1 0 0 0]x + [0)u.
Design a full-state feedback gain matrix and an observer gain matrix to place the closed-loop system poles at $i2 - -1.4 ± / 1 . 4 , ^ - -2 ± j and the observer poles s^2 = -18 ± fi*s34 = ~20. Construct the state variable compensator using Figure 11.1 as a guide and simulate the closed-loop system using Simulink. Select several values of initial states and initial state estimates in the observer and display the tracking results on an x.y-graph.

0001 0011 010 100-5 000,-