Question 9. Given the root locus of a unity feedback system whose open-loop transfer function is, K G(s) = 3(s + 3)(s + 2s + 2) (a) Sketch the root locus. When sketching the root locus you may use the asymptotes finding o, and 0, that are the intersecting point and angles with the real axis, respectively with the following formula, (2k+1)m Efinite poles-E finite zeros Hfinite poles-finite pzeros and a = winite poles-#finite pzeros where k = 0, 1,2, . (b) Determine the break away and break-in points if applies. Then find the gain values at those points. (c) Find the imaginary-axis crossing points and the gain value at those points. (d) Write the stability range for gain. (e) Determine the closed-loop poles when K = 4. (i) Select a gain value from the root locus to allow for maximum 5% overshoot and plot this response on the same plane. Indicate those gain values on the plot. G) What is the system type? Determine steady-state errors for K = 4 when the inputs are unit step and unit ramp, respectively.