% Fig. 5.18   Feedback Control of Dynamic Systems, 8e 
%             Franklin, Powell, Emami
%

clf

s=tf('s');

sysG=(1)/((s^2)*(((s+0.1)^2)+(6.6)^2));
sysD=(s+1)/(s+12);

rlocus(sysG*sysD)

axis([-15 5 -8 8])
title(' Fig. 5.18 Root locus for noncollocated system')
z=0.1:.2:.9;
 wn=2:2:14;
 sgrid(z, wn)
 hold off 
 
 set(gco,'LineWidth',4) 
 