Hafidwib

l=0.01712*10^-3;
bm=4.92*10^-8;
Kt=2.90*10^-4;
r=0.02081;
m=2.12;
Ke=2.90*10^-4;
J=1.6416*10^-6;
b=1.324;

sys1 = tf([1],[l r]);
sys2 = tf([1],[j bm]);
sys3 = tf([1],[m b]);
sys_seri = series(sys1,sys2);
sys_seri = series(sys_seri,kt);
sys_paralel = feedback(sys_seri,ke);
sys = series(sys_paralel,sys3)
step(sys);


% nyquist(sys)
margin = db2mag(-0.16);
sys_mg = sys*margin;
nyquist(sys_mg);