def bode (tf, plot = False):
print "==================================================================";
gm, pm, wg, wp = ctrl.margin (tf);
print "Gain Margin: ", gm, " dB in ", wg, " rad/s"; #Verificar informacoes
print "Phase Margin: ", gm, "deg in", wp, " rad/s";
mag, pha, w = ctrl.bode_plot (tf);
if (plot == True):
p = Plotter ({'type' : 'log', 'grid' : True});
p.subplot ([(w, 20*np.log10(mag)), (w, (180*pha/np.pi))], ["Gain (dB)", "Phase (deg)"]);
return gm, pm, wg, wp
