a) Consider controlling a thermal process with an output modeled as Y(s) = G(3)U(3), where the process model can be written as 8 +3 G(s) S2 +63 +11 Assuming the states can be obtained, design a stable closed-loop system from r to y with poles located at -2 and -5. (3 p) b) Consider using a state observer, (t) = Af(t) + Bu(t) + Ky(t) - Ci(t)), where K = [ Write down the expression for the error of the observer z(t) and compute the maximum rate of decay. (3 p) a) Consider controlling a thermal process with an output modeled as Y(s) = G(3)U(3), where the process model can be written as 8 +3 G(s) S2 +63 +11 Assuming the states can be obtained, design a stable closed-loop system from r to y with poles located at -2 and -5. (3 p) b) Consider using a state observer, (t) = Af(t) + Bu(t) + Ky(t) - Ci(t)), where K = [ Write down the expression for the error of the observer z(t) and compute the maximum rate of decay. (3 p)