1. In the following system, where, |201 s +1 1 D(s) = kp G(s)= s2 s+ 12 R(s) o E D(s) G(s) O Y(s) Sketch the root locus with respect to ky for the closed loop system. (include the asymptotus, departure or arrival angles, imaginary-axis crossings, multiple roots (breakaway or break-in points), etc. Also mark aTows on the root locus to indicate the direction the poles are moving as kp increases.)