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+//polynomial//
+s=poly(0,'s'); //Defines s as polynomial variable
+F=syslin('c',[20/(s+2)]) //Creates transfer function in forward path
+B=syslin('c',(1+0*s)/(1+0*s)) //Creates transfer function in backward path
+OL=F*B //Calculates open-loop transfer function
+fmin=0.1; //Min freq in Hz
+fmax=100; //Max freq in Hz
+scf(1);clf;
+bode(OL,fmin,fmax); //Plots frequency response of open-loop system in Bode diagram
+show_margins(OL) //display gain and phase margin and associated crossover frequencies