In a negative feedback control system, the transfer function of the controlled system is defined as Gp(s) = 5 s(3s+1)* a) Find the natural frequency, damping ratio and unit ramp steady-state error corresponding to the system being controlled with the effect of proportional coefficient Kp = 2. Explain what kind of dynamic behavior the system will show based on this result. b) If the system is controlled with the proportional and derivative effect G(s) = Kp + Kas, find the required Ka value so that the damping ratio is 0.707? Compare these results with the previous results and discuss what features the addition of the derivative effect brings to the steady-state error and dynamic behavior of the system.