Magnitude, 20 log(|G(jω)|)
60
dB
50
−40dB/dec
40
KD(s)G(s) =
30
20
−20dB/dec
10
−20dB/dec
0
ω2c
−10
−20
KG(s) =
−30
−40
4(1
s2 (1 +
ω3
ωco
−40dB/
4
s(1 + 2s)
−40dB/dec
−50
10−1
0
100
Frequency, ω
101
◦
PM
PMo
Phase, ∠G(jω)
−30
4
KG(s) =
s(1 + 2s)
KD(s)G(s) =
−60
−90
−120
−150
−180
10−1
100
Frequency, ω
10
0
−10
−20
10−2
10−1
100
101
102
101
4(1
s2 (1 +