4. If (s+1) L(s) 2 S (a) How many branches are there in the root locus? (b) What part(s) of the real axis have loci ? (c) Find oL and a for the asymptotes. (d) Find the angles of departure of the loci for the poles at the origin. (e) Find the angle of departure of the locus for the pole at s = -1.