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s=%s;
syms K
h=syslin('c',(K/(s*(s+1)*(0.1*s+1))))
H=syslin('c',h)
fmin=0.001;
fmax=1000;
bode(G,fmin,fmax)
show_margins(G)
xtitle("uncompensated system")
[gm,freqGM]=g_margin(G)
[pm,freqPM]=p_margin(G)
disp(gm,"gain_margin=")
disp((freqGM*2*%pi),"gain margin freq=");
disp(pm,"phase margin=")
disp((freqPM*2*%pi),"phase margin freq=");
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