Question 19 20 Answer Only to improve stability to move clo

to improve stability to move closed-loop poles farther to the left to eliminate effects due to disturbances in the given diagram we can find that the mode corresponding to pole at -1 is controllable the mode corresponding to pole at +1 is controllable the mode corresponding to pole at -1 is observable the mode corresponding to pole at +1 is observable in me given diagram.

Solution

19. the mode corresponds to the pole at -1 is observable.

20. the mode corresponds to the pole at +1 is controllable