%  Figure 5.45  Feedback Control of Dynamic Systems, 8e 
%                   Franklin, Powell, Emami

clf
s=tf('s');

sysL2 = 1/(s^2+2*s+4);  % from Eq. (5.86), with KA = 4
rlocus( sysL2 );    % roots vs. K_T
axis([-5 2 -3 3])
hold on
 

title('Root Locus vs. K_1 (K_A=K_1+4)')
%grid on
%hold off


set(gco,'LineWidth',4)


sysL1 = s/(s^2+s+4);  % from Eq. (5.86), with KA = 4
rlocus( sysL1, '--' );    % roots vs. K_T
 

%grid on
%hold off


set(gco,'LineWidth',4)