1 Consider the system whose transfer function is given by: G(s)=- Use the root- (2s+1)(s+3) locus design methodology to design a lead compensator that will provide a closed-loop damping 0.4 and a natural frequency On 9 rad/sec. The general transfer function for lead compensation is given by: D(s) = K (s+z) (s+p)' p>z where z=2 Box your answers (a) Identify the desired dominant, closed loop pole pair locations (b) Determine the lead compensator parameter p (c) Determine the lead compensator parameter (gain) K (d) Make a root locus plot with MATLAB, plotting the root locus of the feed-forward transfer function, D(s)*G(s). Verify the specification of the location of the closed-loop poles.