2. Given the negative feedback system in Fig. 2: R(s) K(s +1.5) s(s-0.5)(s+10) C(s) Fig. 2: A Negative Feedback System a) Express the characteristic equation of the open loop system, and sketch the open loop poles on the s-plane. Is the system stable in open loop? b) Construct the root locus diagram and briefly explain the rules applied during the construction. c) Obtain the maximum value of the system gain K for stable operation.