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Sensitivity Peak
The sensitivity peak shows the maximum amplitude of the sensitivity response. The sensitivity peak does not always occur at the same frequency as the phase margin or gain margin. It shows the worst stability margin across all frequencies. In 121 Hz, between the open-loop magnitude crossover and the higher-frequency open-loop phase crossover.
You can use the magnitude of the sensitivity response to measure how stable the axis is. When you do this, larger magnitudes cause the axis to be less stable at that frequency. The axis will be stable if the peak of the sensitivity curve is less than or equal to 6 dB and the response does not show encirclement. The phase of the sensitivity response is not related to how stable the axis is.
Figure: Margins and Axis Stability
