Problem $3(30$ points$)$

Consider the unity feedback system shown below. Determine the following.

a$)$ Sketch the root locus. Show the asymptotes

b$)$ The value of the gain which make the system marginally stable

c$)$ What is the j $$ axis crossing $?$

d$)$ The break$-$away point.

e$)$ Is there any break$-$in point? $.$ why?.