Given the feedback system shown below: Ta(s) Camera and Laser Controller R(s) K Y(s) s(s + 1Xs + 4) position Find the following: 1. Assuming R(s) is a unit step input, determine the steady-state error of G(s). (15 points) 2. Given Ta(s) = 0, determine the return difference, sensitivity, and complementary sensitivity transfer functions. (25 points)