How would I determine gain and phase margins for the following transfer function: G(s) = (0.38(s^2 + 0.1s +0.55)) / (s(s+1)(s^2 + 0.6s + 0.5)) We are learning about Bode plots but I am really struggling. I know that Bode plots display the relationship between magnitude vs. frequency and phase angle vs. frequency, but that's about it. I also know that s = iw (where w is \omega). Thank you so much, in advance! I am REALLY lost.