Consider the control of Y(s) 10 (a) Let y = x1 and x1 = x2, and write state equations for the system. (b) Find K1 and K2 so that u = --K1x1 -K2x2 yields closed-loop poles with a natural frequency wn = 3 and a damping ratio = 0.5. (c) Design a state estimator that yields estimator error poles with wn1 = 15 and 21 = 0.5