CE4.2b Calculate the observer canonical form realization numerically for the CE2 system, case i only. Demonstrate the duality relation- ship between controller canonical form (CE3.2b) and observer canonical form. CE1.2b Derive a valid state-space description for the system of Figure 1.15. That is, specify the state variables and derive the coefficient matrices A. B. C, and D. Write out your results in matrix-vector form. Give the system order and matrix-vector dimensions of your result. Consider three distinct cases: i. Single-input, single-output: input f () and output 0(1). -X w(r) FIGURE 1.15 Diagram for Continuing Exercise 2. TABLE 2.4 Numerical Parameters for CE2 System Parameter Value Units Name kg cart mass 1712 kg pendulum mass L 0.75 pendulum length 9.81 m/s2 gravitational acceleration