$x^{}=\left[\begin{array}{ccc}2& 1& 1\end{array}\right]$

$0x+\left[\begin{array}{c}1\end{array}\right]$

$1U$

$Y=\left[\begin{array}{cc}1& 0\end{array}\right]x$

a$-)$ Find the open$-$loop transfer function

b$-)$ Let $U=-Kx+r,$ find $K$ so that ${}_D(s)=(s+1{)}^2+1$

c$-)$ Find the closed$-$loop transfer function

d$-)$ Find the open loop step response