$8\mathrm{.}7$ Consider the continuous$-$time state$-$space equation

x$($t$)=[112011001]$x$($t$)+[101]$u$($t$)\backslash$dot$\{$x$\}($t$)=\backslash$begin$\{$bmatrix$\}1$ & $1$ & $-2\backslash \backslash 0$ & $1$ & $1\backslash \backslash 0$ & $0$ & $1\backslash$end$\{$bmatrix$\}$ x$($t$)+\backslash$begin$\{$bmatrix$\}1\backslash \backslash 0\backslash \backslash 1\backslash$end$\{$bmatrix$\}$ u$($t$)$x$($t$)=100110211$x$($t$)+101$u$($t$)$y$($t$)=[200]$x$($t$)$y$($t$)=\backslash$begin$\{$bmatrix$\}2$ & $0$ & $0\backslash$end$\{$bmatrix$\}$ x$($t$)$y$($t$)=[200]$x$($t$)$

Let u$($t$)=$pr$($t$)$Kx$($t$)$u$($t$)=$ p r$($t$)-$ K x$($t$)$u$($t$)=$pr$($t$)$Kx$($t$).$ Find the feedforward gain ppp and state feedback gain KKK so that the resulting system has eigenvalues $2-22$ and $1$j$1-1\backslash$pm j$11$j$1$ and will track asymptotically any step reference input.