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D9.2 Design a state-feedback controller for the following systems. Determine the controller gains, open-loop transfer functions, and closed-loop transfer functions Use the open-loop transfer functions to obtain root locus, Bode plots, and gain and phase margins LU u=-kx + r Closed-loop poles at s --1tj 2

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sal Givn ata lo O A8lb) en leopr inchong 60 α (s 644) ) s (s-2) Cs Cu 3 - (A-BIe 2 e St 2/213 6 2 3125 1-29pc o.รา@pc 3/3= -3-si 2-90 4/44G G6:25 pm Bode Diagram 50 40 30 20 g 10 10 -90 -135 Ф-180 225 270 2 10 Frequency (rad/s) 10 10 10 104GG7:00 pm Root Locus 1.5 0.5 0.5 1.5 2 Real Axis (seconds )

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