For the control system shown in fig-2, a) Find the values of K and K, such that the closed loop system is critically damped and has an undamped frequency 2 rad/sec. What are the poles of the system. b) Find the values of K and Kh so that the maximum overshoot ios 0.2 and the peak time is 1 sec. What are the poles of the system c) Find the conditions on K and K, so that the system is stable. d) What is the system type? What is the steady state error for unit step input and for ramp input D R(s) *H K 2s+1 K Fig-2 C(s)