2. (20 pts) Consider the system defined by: x₁ = x2 y=x₁ a) Design a control law of the form: x2 that will place the closed-loop poles at s = -1 ± j. b) Transform the system equations into the observable canonical form. c) Transform the system equations into diagonal (Jordan) canonical form. 2. (20 pts) Consider the system defined by: *₁ = x2 x₁ = u y=x₁ a) Design a control law of the form: u = x x2 that will place the closed-loop poles at s=-1±j. b) Transform the system equations into the observable canonical form. c) Transform the system equations into diagonal (Jordan) canonical form.