P6.4.1* For the following second-order transfer functions, determine $K_p$, $\tau_n$, and $\zeta$.
a. $G_p(s) = \frac{6}{4s^2 + s + 4}$
b. $G_p(s) = \frac{3}{5s^2 + 10s + 10}$
c. $G_p(s) = \frac{10}{s^2 + 2s + 0.5}$
d. $G_p(s) = \frac{0.5}{0.1s^2 + 6s + 0.1}$