Question: The transfer function of a dc motor (which acts as a plant whose input is the armature voltage and whose output is the shaft rotation angle) is Gp(s) = 1/[(s + 1)(s + 2)(s + 3)], and the plant interacts with a PI controller in a unity-feedback control system. Determine the proportional gain KP and the integrative gain KI such that the system has two stable poles and two imaginary poles (specify values, ranges, or relationships between these constants).