% Fig. 5.24  Feedback Control of Dynamic Systems, 8e 
%             Franklin, Powell, Emami
% script for Figure 5.24, Lead design.

clf; 
s=tf('s');
sys4=(s+2)/((s*(s+1))*(s+10));
rlocus(sys4)
axis([-14 4 -8 8])
title('Root locus for lead design')
hold on
r=roots([1 11 80 140]);  % s(s+1)(s+10)+70(s+2)
plot(r,'*')
z=0.1:.2:.9;
 wn=2:2:15;
 sgrid(z, wn)
% hold off

%set(gco,'LineWidth',4)