Given(s) = s-2/(s+1) (s+3) (s+5) sketch the root locus of the closed-loop system. You must show all steps, including calculating the centroid, asymptotes, break-in/break-out points, and crossing of the imaginary axis. Calculate the gain K at which the break-in/break-out points and imaginary axis crossing occur, if applicable.

R(s) K Figure 1 G(s) C(s)