(1): (1) Consider a linear system given by x = Ax + bu where 1 1 -1 0 1 0 2 -1 2' A 0 -2 1 1 Use Matlab to rewrite this system in the controllable cannonical form. Then use this form to obtain a feedback control law that renders the closed-loop system asympotically stable. Choose 4 distinct closed-loop poles. Simulate the results for closed-loop and open-loop system. The feedback control law is given by u(t) Kz and you need to specify the gains ki, i = 1,4. Plot the response of the system as a function of time. Also, plot the control u(t) as a function of time