(2) For the system shown: (s) R(s) E(s) K s(s+a) (a) Calculate a and K such that -0.4 and 0 = 5 rads/sec. (b) Based on these values of a and K, determine the maximum overshoot, rise-time, delay-time, and time to maximum peak if the input is a unit step. (c) Calculate the settling time and the number of oscillations up to the settling time. (d) If the input is a unit ramp, what is the steady-state error, e() ? (e) If the above system is modified so that it can be represented by the following block diagram, then use any decomposition method to find a state variable model of the closed loop system. R(s) E(s) 100 s(s+9) S 220 +1 C(s)