Problem No. 2: Stability Margin for Ship Steering Dynamics (30 points) The steering dynamics of a ship are represented by the following transfer function: V(s) 8,(s) -= G(s) = K[-(s/0.142)+1] s(s/0.325+1)(s/0.0362+1) where Vis the ship's lateral velocity in meters per second, and _r is the rudder angle in radians. (a) Use the MATLAB command bode to plot the log magnitude and phase of G(jo) for K = 0.2. (b) On your plot, indicate the crossover frequency, PM, and GM. (c) Is the ship steering system stable with K = 0.2? (d) What value of K would yield a PM of 30 and what would the crossover frequency be?