Question: Let And D= [0]. Then design a controller using internal model methods so that the steady-state error for a step input is zero and the

Let

A -1 2 01 B= 1 C = [1 0],

And D= [0]. Then design a controller using internal
model methods so that the steady-state error for a
step input is zero and the desired roots of the charac-
teristic equation are s = -2 ± 2j and s = -20.

A -1 2 01 B= 1 C = [1 0],

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