Sure. I only wanted to clarify that it is perfectly possible that in response to a step input, these regulated outputs can be pretty much nonzero in the transient phase. And we are only trying our best to make them small.
For example, this is what I get from Simulink simulation with my controller (beware that unlike in the problem assignment here I distinguish between the outputs and their delayed measurements, but I mention it just to avoid confusion, it was not necessary).
For example, this is what I get from Simulink simulation with my controller (beware that unlike in the problem assignment here I distinguish between the outputs and their delayed measurements, but I mention it just to avoid confusion, it was not necessary).
I hope I am not much worse than what you guys can design 
