Q3 For th control system shown below: 1. Derive the closed-loop transfer function GCL=R()E(0). [5 pts.] 2. [15 pts.] By constructing the Routh's array, derive the condition(s) on a and b for the stability of the closed-loop system and sketch the stability region in the ab plane. 3. [15 pts.] Assuming that there exists some value of a and b that renders the closed-loop system stable, find the steady-state error (symbolically) to a ramp input r(t)=t in terms of a and b