The model for the steering dynamics of a ship is given by vo 6,(s) -(/0.142) r(s/0.325+1)(s/0.0362 +1) g)- where v is the ship's lateral velocity in meters per second and & is the rudder angle in radians eind:

(a) g(ja) for k-0.2 using the matlab bode command
(b) gain crossover frequency and pm, phase crossover frequency and gm on the bode plot.
(c) is the ship steering system stable with k-0.2
(d) value of k for pm-30 and the corresponding gain crossover frequency