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+//caption: gain_margin_and_phase_margin
+//example 7.17.9
+//page 245
+s=%s;
+syms w;
+s1=-s;
+gh=(32/(s*(s+sqrt(6))^3));
+g=sym((32/(s*(s+sqrt(6))^3)));
+s=%i*w;
+a=eval(g);
+w=sqrt(2);
+b=float(eval(abs(a)));
+disp(b,"at w=sqrt(2),|G(jw)H(jw)|=");
+GH=syslin('c',gh);
+gm=g_margin(GH);
+pm=p_margin(GH);
+disp(gm,"Gain margin=");
+disp(pm,"Phase margin=");
+disp("since gm=0 and pm=0, so system is marginally stable")
+\ No newline at end of file