Problem 1: Poles and zeros Find the poles and zeros of the following transfer functions. Make sure to state the order of each pole and zero. Next, use the poles to characterize the stability of the system described by each transfer function (asymptotically stable, marginally stable, or unstable). 2(s+3)(s+1)2 (a) H(s) = (s+2)(s²+4) S (b) H(s) = (s+2)3(s2+1)2 1 (c) H(s) = (s² + 2)(s2 2s+5)