Phase (deg) The open loop Bode diagram of a system is plotted using its transfer function (see the figure below). Use the Bode diagram of that system to: a. Determine the Gain and Phase margins. b. Based on the values you determined in part 'a', discuss the stability conditions of this system. c. Design a PD controller for that system. Magnitude (dB) 50 -50 -100 -150 -200 .90 -135 -180 -225 -270 -2 10 0 10-1 10° Bode Diagram 101 Frequency (rad/sec) 10² 3 10