PAY ATTENTION TO MATLAB CODE RESTRICTIONS ON THE ATTACHED IMAGE!!!

Write a Matlab function called computeBode $()$ that does the following:

a$.$ Accepts as its input arguments $($in rad$/$s$)$ as well as a transfer function $G(j).$

b$.$ Returns two vectors, each as a function of $($in $ra\frac{d}{s})$: $(1)|G(j)|($in dB $)$ and $(2)$

phase angle, $($in deg$),$ where phase angle is negative if the output lags behind the

input.

c$.$ Also returns $4$ values: gain crossover frequency $($in $ra\frac{d}{s}),$ phase crossover

frequency $($in rad$/$s$),$ gain margin $($in dB$),$ and phase margin $($in deg$).$ Note: your

code must account for cases where magnitude never crosses unity gain and$/$or phase

never crosses $-180$ deg.

NO SYMBOLIC MATH.

You may NOT USE the following built$-$in Matlab functions:

rlocus $,$ rlocusplot $()$ pole $,$ zero $(),ss(),$ bode $(),$ margin $(),$ phase$(),$ or any others related to root locus or Bode analysis. Write your own code for all of that. Please do all plots in Matlab. Make sure you label your axes $($system variable name AND units, where applicable$).$ No symbolic math use in Matlab.