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this video looks at the effect of changing compensator gain on the gain margin so the first five videos looked at the definition and computation of margins for a simple case what we want to do now is start moving the emphasis towards feedback analysis and after that design weamp;#39;re going to assume our standard simple feedback loop like this one here with compensator m and a system g but the subtle difference is weamp;#39;re now going to assume the compensator m of s is given by some scalar gain k times m dash of s and weamp;#39;re going to ask ourselves what happens as we change k how do the margins change now the focus of this particular video is on the gain margin so if we look at this box here weamp;#39;re giving you just a reminder how the gain margin is defined first you find the phase crossover frequency omega p that is you solve for the frequency such the argument of m g equals minus 180 degrees and then the gain margin is given by this formula here itamp;#39;s 1 over t
