3. (20pts) Consider the following transfer function, y(s) = s+2 u(s) (s + 1)(s + 2s + 4) a) (8pts) Derive the controller canonical form realization of this transfer function. b) (4pts) Draw a block diagram of the realization obtained in part (a) using an integrator for each state variable. c) (8pts) Design a state feedback controller u = -KX, such that the closed-loop poles are located at -3 and (-1+ j). Show your calculation steps. (Note: You can avoid considerable amount of algebra by utilizing the structure of the controller canonical form for pole placement)