The Bode magnitude plot starts from a non-zero offset because of the transfer function's DC gain. This can easily be obtained if s = 0 is substituted into your transfer function, which corresponds to a zero-frequency (hence static) input. The only way you can make the Bode magnitude plot start from 0 dB in this case is to factor out the DC gain from your transfer function.
The DC gain can easily be calculated using the "<https://www.mathworks.com/help/releases/R2016b/control/ref/dcgain.html dcgain>" function and then the transfer function can be divided by this constant number. Now the Bode magnitude plot will always start from 0 dB because the resulting transfer function has unity DC gain.
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