In Section 12.4, we discussed how to design a controller for systems not represented in phase-variable form with its typical lower companion matrix. We described how to convert the system to phase-variable form, design the controller, and convert back to the original representation. This technique can be applied just as easily if the original representation is converted to controller canonical form with its typical upper companion matrix. Redo Example 12.4 in the text by designing the controller after converting the uncompensated plant to controller canonical form.