Consider a unity feedback system with the loop transfer function

(a) Sketch the Bode diagram for K = 4. Determine
(b) the gain margin, (c) the value of K required to provide a gain margin equal to 12 dB, and (d) the value of K to yield a steady-state error of 25% of the magnitude A for the ramp input r(t) = At, t > 0. Can this gain be utilized and achieve acceptable performance?

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