Using the Expression you found above, add a gain K and close a unity gain loop. Draw how the feedback system will look like. b$.$ On paper calculate the static error constant and the steady state error of this system c$.$ On paper, write T$($s$)$ the closed$-$loop transfer function. d$.$ Using T$($s$),$ analyze for which K $>0$ the system is stable using Routh$-$Hurwitz method on paper