QUESTION 1 (16 marks) The transfer function of an open loop system is: G(s) 2K s s + 4s + 4 a) Determine the differential equation that describes the system in the time domain with F(t) as the input and x(t) as the output. b) What is the order of the open loop system G(s)? What is its type? (1 mark) (1 mark) c) Determine the steady state error of the closed loop system if the input is (i) a unit impulse function, and (ii) a step function of magnitude 3. Assume H(s)=1. (2 marks) d) Sketch the root locus of the closed loop system for 0