Loop shaping

Bode magnitude P & C S & T

Bode phase

Nyquist scroll to zoom, drag to pan, double-click to reset

Step response

Plant

Controller

Gain K dB

Margins

How to

Drag a marker sideways to move it in frequency.
Drag a marker up or down to change its shape: lead and lag ratio, low-pass damping, notch depth.
Scroll on a notch marker to change its width.
Drag empty space on the magnitude plot up or down to change the gain.
Double-click a marker to remove it.