Consider a proportional-integral (PI) digital controller with the transfer function D(z) = 1.2 + 0.1z 2-1 This

Consider a proportional-integral (PI) digital controller with the transfer function

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D(z) = 1.2 + 0.1z 2-1 This controller is placed in the designated system between the sampler and data hold. Find a discrete state model of: (a) The system of Problem 4.10-1. (b) The satellite system of Problem 4.10-5. (c) In parts (a) and (b), use MATLAB to verify the results by calculating the system transfer functions from the state models.