5. 6. -1 (4a) U u X2 1 X2 -2 x -1 -2 12 (4b) U -2 2 Y y 16 x2 X2 3 1 (4c) U u - x 2 Y y -8 Y y -20 5 x X2 2 Find the state space models of the three systems shown in Fig. 4a, Fig. 4b, and Fig. 4c, respectively. Use the state space models (A,B,C,D) obtained in Problem 5 and the transfer function formula Y(s) U(s) - = C(sI A)B+D to compute the three transfer function Y(s)/U(s) for the three systems shown in Fig. 4a, Fig. 4b, and Fig. 4c, respectively. Compare the three transfer functions with those obtained in Problem 4.