Determine the (i) gain margin K, and (ii) phase margin om of the following open loop transfer function using the Nyquist Plot below. The unit circle is given by the circle in red. Imaginary Axis 3 2 -2 -3 Nyquist Diagram O 0 Real Axis 2 Is the closed-loop system stable? Why? If no, discuss how you may stabilize the closed-loop system by changing the gain K, in the controller C(s) ONLY. (Ans: (i) K -2 dB and (ii) m -10. Unstable as Nyquist Plot encircled the critical point (-1+ j0). Reduce K, by at least)