A system identification experiment has been employed to the following system
$$G(s) = \frac{K(s+z_1)(s+z_2)}{(s+p_1)(s+p_2)}$$
and the following Bode magnitude plot is obtained.
a) Calculate the parameters of the transfer function, K, $z_1$, $z_2$, $p_1$, $p_2$ (10 points)
b) Sketch the Bode phase plot of G(s). Label all slopes, frequencies, and phase angles on the
drawing. You are expected to use the logarithmic plot! (16 points)
c) Using the Bode plots, find/calculate the phase margin and gain margin. (4 points)