Part $1$: Evaluate the open$-$loop system and design requirements.

$1$a$)$ Determine the gain margin, in dB$,$ for $.$ The gain margin's value must be stored in the variable Ggm

$1$b$)$ Determine the phase margin, in degree, for $.$ The phase margin's value must be stored in the variable Gpm

$1$c$)$ Calculate the velocity constant,, for $.$ The value of $$must be stored in the variable Kv

$$is the total gain required to satisfiy the steady$-$state tracking requirement and includes the gain contribution from $.$

$1$d$)$ Calculate the phase margin, $,$ corresponding to $.$ The value for $$must be stored in the variable PMdes

Use the approximation $.$