$2.$ The root locus of a feedback system with two open loop poles and two open loop zeros is shown in $2.$ Using the figure, answer the following questions. $($a$)$ What is the characteristic equation for this system $($assuming the normal negative feedback setup with a simple gain$)?(3$ points$)($b$)$ What value of K makes the system marginally stable? $(5$ points$)($c$)$ Can the response of this system be tuned $($approximately$)$ to a settling time of $1($sec$)$ with an appropriate choice of feedback gain K$?(6$ points$)($d$)$ Can the response of this system be tuned $($approximately$)$ to an overshoot of $4\mathrm{.}32\%$ with an appropriate choice of feedback gain K$?(6$ points$)\backslash (\backslash$circlearrowleft $\backslash )$