1. Consider the system shown below. where D(s)Ks 2)2 (a) Using Routh's stability criterion, find the range of K such that the closed-loop system remains stable. (b) Choosing any value of K obtained in (a), prove that the closed-loop system is capable of tracking a reference input r(t) cos 3t with zero steady state error. (Hint: Calculate the steady state erro using the FVT.) (c) Verify your result using MATLAB. Attach your code and plot. S2+3 1. Consider the system shown below. where D(s)Ks 2)2 (a) Using Routh's stability criterion, find the range of K such that the closed-loop system remains stable. (b) Choosing any value of K obtained in (a), prove that the closed-loop system is capable of tracking a reference input r(t) cos 3t with zero steady state error. (Hint: Calculate the steady state erro using the FVT.) (c) Verify your result using MATLAB. Attach your code and plot. S2+3