Question 2 a) Mention four advantages of a closed loop control system in compare with an open loop control system. [8 marks] b) Find the overall transfer function for the control system presented in Figure 3B. R(s) K(s+2) s+3 s(s+1) C(s) Figure 3B [8 marks] 6 and an s+5s+7 c) If the overall transfer function of a control system given by G(s) input signal of unit step input = 1 is applied to the system, find the output the steady-state error of the system. [9 marks]