4. Consider the unity gain negative feedback system where the open-loop transfer function is A(s) = H(s)101(s(s + 2)(s + 5)). a. Given that X(s) is the input signal and Y(s) is the output signal determine Y (s)IX(s) in terms of A(s). b. Given the error E(s) = X(s) — Y(s) find E I X . c. For x(t) = tuft) the steady-state error is equal to 1/50 and the closed-loop response is stable, find a H (s) that can satisfy these requirements.