Figure 4 shows a position-control system for motion control system. Suppose that, for constant input, steady state errors less than two percent, e< 2% is obtained. Given that G(s)=2.Q/(s³+4s²+5.Ts+2.Q). [Where Q and T depend on the respective fifth and sixth digit of your matrix number. Example matric no. CD180100=CD1801TQ; T=0, Q=0; G(s)=2.0/(s²+4s²+5.0s+2.0).] a) Find the position error constant, Kp b) Determine the gain, K value for steady state error condition as stated c) Check the stability requirement for K, using Routh-Hurwitz criterion d) Comment on the requirement of gain will satisfied or unsatisfied the system 2 e) Sketch the loci when G(s) : and find for s(s?+4s+5) i asymptotes, ii. break away/in points, iii. angle of departure iv. K value at imaginary axis