In Figure, $P(s)=\frac{5}{s},H(s)=1$

$T(s)=\frac{C(s)}{R(s)}=\frac{200K}{(s+1)(s+3)(s^2+2s+20)}$

and

$S_{T\text{:}P}=\frac{P}{T}\frac{T}{P}=\frac{s^2+2s}{s^2+2s+20}$

a$.$ Find $F(s)$ and $G(s).$

b$.$ Find the value of $K$ that will result in zero steady$-$state error for a unit step input.