The open-loop transfer function of a control system is given by
![1040_863b1703-f1b9-46ce-af28-a9cea7e47b3b.png](https://secure.tutorsglobe.com/CMSImages/1040_863b1703-f1b9-46ce-af28-a9cea7e47b3b.png)
(a) With this transfer function, if the loop is closed through a unity feedback, determine the phase margin. You should use direct computation rather than a graphical approach.
(b) If the input to the open-loop system is u = 3 cos 2t determine the output y under steady conditions.