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s=poly(0,'s');
F=syslin('c',[80000/((2+s)*s*(s+50)*(s+200))]) //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
[GainMargin,freqGM]=g_margin(F) //Calculates gain margin [dB] and corresponding frequency [Hz]
disp(GainMargin,"GM=")
[PhaseMargin,freqPM]=p_margin(F) //Calculates phase [deg] and corresponding freq [Hz] of phase margin
disp(PhaseMargin,"PM=")
show_margins(F) //display gain and phase margin and associated crossover frequencies
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