5. A ship's roll can be stabilized with a control system as shown in the block diagram below: a voltage applied the fins' actuators creates a roll torque that is applied to the ship. In response, the ship yields a roll angle. Determine the gain and phase margins. Ship Desired roll angle,(s) + Roll angle error, (s) Transducer Fin actuator roll Actual dynamics Voltage 5 Torque 9 roll angle, (s) 0.5 S+4 s² + 0.9s +9