Consider a control system whose characteristic equation is Q(s) = s¹+ 2s³ + 3s² + 4s + 3 (a). Determine and show the number of sign changes in the first column based on the Routh array. (b). Determine and show the number of roots in the right half of the s-plane based on the Routh array. (c). Determine and explain the stability of the system using the Routh- Hurwitz criterion.