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+s=%s;
+syms K
+H=syslin('c',K*(1+2*s)/(s*(s+1)*(s^2+s+1)))
+nyquist(H)
+show_margins(H,'nyquist')
+mtlb_axis([-1 1 -5 1])
+gm=g_margin(H) // gain margin
+pm=p_margin(H) // phase margin