Plot the root locus for this system. (b) assume that the system is operating at � = 0.5. determine the value of control gain � and the closed-loop system poles (hint: use rltool in matlab). (c) find the steady-state error for a unit ramp input (i. e., ramp input with slope 1) for the value of � you found in (b). (d) plot the error signal � � = � � − �(�), where � � is a unit ramp input and verify that �== agrees with your answer in (c). (e) design a lag compensator that will decrease steady-state error by a factor of 4 such that the closed-loop poles will not be changed significantly compared to what you found in (b). (f) co-plot the unit ramp response of the uncompensated system, the lag-compensated system and the ramp input. (g) co-plot � � = � � − �(�) for the uncompe