2. (15 points) Consider the system shown on the left. Reference, r(t) + angle, y(t) K G(s) Motor 1 G(s)= s(s+a) (a) Find the transfer function T(s) for the closed loop system if C(s)=K. What type of controller is this (P, PI, PD, PID, etc?) (b) Find Kand a if the desired eigenvalues for the system are s=-2+10j. (c) For the a found in part (b), what gain Kwill provide a damping coefficient of 2/2? (d) What is the open loop Transfer function B(s) for the system shown above?