Consider the feedback control system given below. If the controller is PD with Gc(s) = K(s + 20)

Ge(s) = x(y + 20) R(S) Y(S) Gc(S) s(s? +248 +63) (a) Using MATLAB, sketch the root locus diagram. From this point on, please use the root locus obtained using MATLAB for the design process. (b) Select the dominant closed-loop poles that satisfy the design specification of P.O.