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+s=poly(0,'s');
+F=syslin('c',[80/((2+s)*s*(s+20))])
+
+fmin=0.1; //Min freq in Hz
+fmax=20; //Max freq in Hz
+
+scf(1);clf;
+bode(F,fmin,fmax); //Plots frequency response of open-loop system in Bode diagram
+
+[GainMargin,freqGM]=g_margin(F) //Calculates gain margin [dB] and corresponding frequency [Hz]
+disp(GainMargin,"GM=")
+disp(freqGM*2*3.14,"omegaPC=")
+
+[PhaseMargin,freqPM]=p_margin(F) //Calculates phase [deg] and corresponding freq [Hz] of phase margin
+disp(PhaseMargin,"PM=")
+disp(freqPM*2*3.14,"omegaGC")
+
+show_margins(F) //display gain and phase margin and associated crossover frequencies
+
+if(GainMargin>0 & PhaseMargin>0 )
+ disp("stable system")
+else
+ disp("unstable system")
+end