For the open-loop system
\(G(s)=y(s)/u(s)=1/[s^{2}(s^{2}+400)]\)
design the controller and estimator so that the closed-loop unit step response to a command input has a rise time tr < 200 msec and an over shoot Mp < 15% when using the state command structure. Check that the specifications are met by plotting the step response.