Consider a state state space system given as = Ar+ Bu, y=Cx where r is two dimensional state vector, A = -20 B = 1 . C = [01]. 1 1 (a) For r(0) = -[i]. and u=0, find x(t) for t0. (b) Find a state feedback law uv-Kr such that the closed-loop poles are at -22. (c) Design an observer to generate 2, an estimate of x, such that the error system, i.e. dynamical system for the estimation error (r), has poles at -4, -5. Write the observer equations.