Consider a plant with transfer function (s) = 1/(s - 1). Suppose a disturbance of form wet) = a sin(2t +θ), with unknown amplitude a and phase θ, enters the plant as shown in Fig. 9.2. Design a biproper compensator of degree 3 in the feedback system so that the output will track asymptotically any step reference input and reject the disturbance. Place the desired poles at -1 ± j2 and -2 ± j 1.
