Consider a plant with transfer matrix
![2180_Consider a plant with transfer matrix.png](https://secure.tutorsglobe.com/CMSImages/2180_Consider a plant with transfer matrix.png)
Find a compensator in the unity-feedback configuration so that the poles of the overall system are located at-2, -1 ± j and the rest at s= -3. Can you find a feedforward gain so that the overall system will track asymptotically any step reference input?