a) Specify the locations of poles and zeros and write the transfer function G(s).[5]b) Calculate the angle of departure (from poles)? (note: k=0, pm1, pm2,... in the angle condition of root locus). [5]c) Form the closed loop transfer function and then using Routh table find the jo-axis crossing coordinates and corresponding K? [10]d) Given the break-in coordinate of -2.43, sketch root locus. [5]