Question $2$

Given the closed$-$loop transfer function,

T$($s$)=$C$($s$)$R$($s$)=82$s$4+2$s$3+4$s$2+8$s$+5$

$($a$)$Use the Routh$-$Hurwitz Criterion to $$judge system stability.

$($b$)$Represent this system using the state$-$space model. Give your answer in $$vector$-$matrix

form.