1. The problem statement, all variables and given/known data Find the Bode Plot, and the phase and gain margins for the uncompensated system. 2. Relevant equations G = (3.6s+6)/(s(.1s^2+.7s+1)) 3. The attempt at a solution I understand the phase and gain margin ideas, but the gain margin hinges on the phase crossing -180 degrees, and in this case it never crosses. So am I doing something wrong here? If not, how do I find the gain margin in this case? Is it infinite? Thanks for any help.