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A unity negative feedback closed loop system has a plant with the transfer function $G(s)=\frac{1}{s^{2}+2 s+2}$ and a controller $G_{o}(s)$ in the feedforward path. For a unit step input, the transfer function of the controller that gives minimum steady state error is

1. $G_{o}(s)=\frac{s+1}{s+2}$
2. $G_{o}(s)=\frac{s+2}{s+1}$
3. $G_{o}(s)=\frac{(s+1)(s+4)}{(s+2)(s+3)}$
4. $G_{o}(s)=1+\frac{2}{s}+3 s$