Simulate the following 2 input and 2 output system: * = [6.5 ;]++ [1 ]u y=l_qJx+lo ju One way is to do the typical assignment of the A, B, C, and D matrices so that * = Ax + Bu y = Cx + Du US) Now consider the transfer matrix, G(s) = ms. Then [Assuming X(0)=0 ] sX = AX(s) + BU(s) So X(s) = (sl A)-1BU(s) and, substituting into the Y(s) equation Y(s) = [C(sl A)-1B + D] U(s) G(S) a. Establish the G matrix elements from the first 2 equations, resulting in 4 matrix elements as functions of s: Y=GU. b. Plot the step responses of this system -- there are 2: One when you step uz (leaving the other zero), and one when you step uz (leaving the other zero). However, two outputs result -- y, and y2, resulting four curves to be shown for each unit step. c. Now use MATLAB to simulate and make all 4 plots using step (A, B, C, D). You can also use step (A,B,C,D,1) to show the output of unit step of uj. d. Simulate each step response using ode23 and your own dyn function. Use the same time frame that resulted from part c