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3. Consider a unity feedback system with G(s)=- s(s+1)(s+2) a) Sketch the bode plot and find the phase margin, gain crossover

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4 + ok wa (s) aljw) ja (1+ ) (1+ josw) s($+1) Cs+2) dB os pis von de delde logw dides Rodeldec. Magnitude factors Corner freqa(s) s(5+1) Csta) pc, ajws should be negatively neal de nou imaginery Law) = 180° = - 1 iw (-wt +3jw +9) So 42) ju (jwav) (jwPhase Margin at wge L6w) - - (a$ + tan-0.5 4 tan-0.1*0.5)) = -1300 p.= 180+ 0 190 - 130 = - TO ke-ts • S(SH1) (5+2) doo For Pо, и к 3(3-к)К к ( 36-0-0 (1) КО 70 3(2-) >\. - 2 > К. о к < 1-г

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