Consider a unity feedback system with the loop transfer function
![](https://test.transtutors.com/qimg/f49e157c-f63e-4e38-baff-fd0c989d6775.png)
(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?