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s=poly(0,'s');
F=syslin('c',[1/((1+s*0.02)*s*(0.05*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 GM=10 dB, the point on the plot without k is 26dB away from 0dB line.
k1=10^(26/20) // 20*log(k1)=26
disp(k1,"k for GM=30 is ")
F1=syslin('c',[(k1)/((1+s*0.02)*s*(0.05*s+1))])
[PhaseMargin,freqPM]=p_margin(F1)
disp(PhaseMargin,"PM=")
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