Step response (closed loop)
Output y(t)
Reference r(t)
Control u(t)
Bode-like open-loop view |L(jω)| & ∠L(jω)
Magnitude (dB)
Phase (deg)
Stable response
Overshoot
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Rise time (10–90%)
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Settling (2%)
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Steady-state error
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Peak time
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Gain margin (approx.)
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Phase margin (approx.)
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Oscillation score
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Loop equations
Discrete simulation of a unity-feedback loop. Bode margins are estimated from the open-loop frequency response of L(s)=C(s)G(s). See the theory page for math and tuning tips.