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+s=poly(0,'s');
+F=syslin('c',[1/((1+0.001*s)*(s*0.1+1)*(0.25*s+1))]) //without k
+
+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
+
+show_margins(F) //display gain and phase margin and associated crossover frequencies
+
+// TO FIND VALUE OF K
+
+// for PM=40degrees, the point on the magnitude plot without k is 8dB away from 0dB line.
+k2=10^(8/20) // 20*log(k1)= 8 dB
+disp(k2,"for PM=40degrees k is ")
+F2=syslin('c',[(k2)/((1+0.001*s)*(s*0.1+1)*(0.25*s+1))])
+
+[GainMargin,freqGM]=g_margin(F2)
+disp(GainMargin,"GM=") \ No newline at end of file