, find the state feedback u = kr such that the closed-loop system i = (A + bk) has the poles {-i, -1i}. Now, consider the inverted pendulum system 01 00-10 -0-0- 1 5 (ii) find k such that = y = [ (i) find a nonsingular transformation such that 000]* a = T-x, such that (A, b) can be put in the controllability form, i.e. (iii) find the state feedback (A, b) = ( 0 1 0 0 0 0 10 0001 * U []} * 10. |s1 - (A+bk)| = (s +2s + 2) (s + 3s + u = kr 3 o(A + bk) = {-i, -1 + i).