>> A=10;

>> w=2;
>> s1=w*i;
>> g=1/(s1+1);
>> mag_g=abs(g)

mag_g =

0.4472

>> teta=0-(angle(g))*180/pi

teta =

63.4349

>> x=0:0.01:2*pi;
>> y=A*cos(w*x);
>> y1=A*mag_g*cos(w*x-teta);
>> plot(x,y,x,y1)

10
8
6
4
2
0
-2
-4
-6
-8
-10

>> gs=tf([1],conv([1 0],conv([1 1],[1 4])));

>> w=0:0.1:1;
>> [mag,fasa]=bode(gs,w);
>> disp([w' mag(:) fasa(:)])
0

Inf -90.0000

0.1000 2.4868 -97.1427

0.2000 1.2242 -104.1723
0.3000 0.7960 -110.9884
0.4000 0.5774 -117.5120
0.5000 0.4438 -123.6901
0.6000 0.3533 -129.4945
0.7000 0.2882 -134.9183
0.8000 0.2393 -139.9697
0.9000 0.2014 -144.6676

1.0000 0.1715 -149.0362

>> w=1:1:10;
>> [mag,fasa]=bode(gs,w);
>> disp([w' mag(:) fasa(:)])
1.0000 0.1715 -149.0362
2.0000 0.0500 -180.0000
3.0000 0.0211 -198.4349
4.0000 0.0107 -210.9638
5.0000 0.0061 -220.0303
6.0000 0.0038 -226.8476
7.0000 0.0025 -232.1250
8.0000 0.0017 -236.3099
9.0000 0.0012 -239.6973
10.0000 0.0009 -242.4880

>> gain_margin=1/0.05

gain_margin =

20

>> w=0.2:0.01:0.3;
>> [mag,fasa]=bode(gs,w);
>> disp([w' mag(:) fasa(:)])
0.2000 1.2242 -104.1723

0.2100 1.1635 -104.8650

0.2200 1.1081 -105.5555
0.2300 1.0576 -106.2436
0.2400 1.0111 -106.9294
0.2500 0.9683 -107.6126
0.2600 0.9286 -108.2932
0.2700 0.8919 -108.9712
0.2800 0.8577 -109.6464
0.2900 0.8258 -110.3188
0.3000 0.7960 -110.9884

>> w=0.24:0.001:0.25;
>> [mag,fasa]=bode(gs,w);
>> disp([w' mag(:) fasa(:)])
0.2400 1.0111 -106.9294
0.2410 1.0066 -106.9978
0.2420 1.0022 -107.0662
0.2430 0.9979 -107.1346
0.2440 0.9935 -107.2030
0.2450 0.9892 -107.2713
0.2460 0.9850 -107.3396
0.2470 0.9807 -107.4079
0.2480 0.9765 -107.4761
0.2490 0.9724 -107.5444
0.2500 0.9683 -107.6126

>> 360-287.2030

ans =

72.7970
>> [Gm,Pm,Wcg,Wcp] = margin(gs)

Gm =

20.0000

Pm =

72.8988

Wcg =

2.0000

Wcp =

0.2425

>> k=1/0.2882

k=

3.4698

>> gs=tf([1],conv([1 0],conv([1 1],[1 4])));

>> h=tf(1,1);
>> sys=feedback(gs,h);
>> sys1=feedback(k*gs,h);
>> step(sys,sys1)
>> step(sys,sys1)
>> k1=1/0.2393

k1 =

4.1789
>> k3=1/0.3533

k3 =

2.8305

>> sys3=feedback(k3*gs,h);
>> step(sys,sys1,sys2,sys3)