Consider the discrete-time state equation in Problem 8.8. Let u[k] - kx[k], where p is a feedforward gain. For the k in Problem 8.8, find a gain p so that the output will track any step referene input. Show also that y[k] = r[k] for k ≥ 3. Thus exact tracking is achieved in a finite number of sampling periods instead of asymptotically. This is possible if all poles of the resulting system are placed at z = 0. This is called the dead-beat design.