Design a Feedback Controller for a Mixing Tank

The equations for a chemical's concentration in a mixing tank with two inflows and one outflow are Taylor linearized about an operating point to produce a descriptor state-space model.

    
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Because the system is of order 2, a feedback controller can assign two poles:
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Obtain the closed-loop system:
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The closed-loop system reacts considerably faster to changes than the uncompensated system:
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