Section 12.2 showed that controller design is easier to implement if the uncompensated system is represented in phase-variable form with its typical lower companion matrix. We alluded to the fact that the design can just as easily progress using the controller canonical form with its upper companion matrix.

a. Redo the general controller design covered in Section 12.2, assuming that the plant is represented in controller canonical form rather than phase variable form.

b. Apply your derivation to Example 12.1 if the uncompensated plant is represented in controller canonical form.