For this problem you will design a controller, C(s), that will satisfy all the following requirements:(a) The closed loop system is stable.(b) The steady state error for a step function input is exactly zero, and the steady state error for a rampfunction input is 0.02.(c) The complex poles have a damping ratio of 0.25, and a natural frequency of 4.(d) Any additional poles are non-dominant. Answer these questions:(a) Show that the controller, C(s)