% Fig. 6.55   Feedback Control of Dynamic Systems, 8e 
%             Franklin, Powell, Emami
%

clear all;
%close all;
clf

set(findall(gcf,'type','line'),'linewidth',3);

numG = 1;
denG = [1 1 0];

figure(1)

numD = 1;
denD = 1;

num = conv(numG,numD);
den = conv(denG,denD);

axis('square');

rlocus(num,den);

axis([-16 0 -8 8]);
set(findall(gcf,'type','line'),'linewidth',3);


title('Root Locus for Lead Compensation Design');
%axis('normal');


figure(2)

numD = [0.5 1];
denD = [0.1 1];

num = conv(numG,numD);
den = conv(denG,denD);

%5axis('square');

rlocus(num,den);

axis([-16 0 -8 8]);
set(findall(gcf,'type','line'),'linewidth',3);

title('Root Locus for Lead Compensation Design');
%axis('normal');


figure(3)

numD = 1;
denD = 1;

num = conv(numG,numD);
den = conv(denG,denD);

%axis('square');

rlocus(num,den);

axis([-16 0 -8 8]);
set(findall(gcf,'type','line'),'linewidth',3);

hold on;

numD = [0.5 1];
denD = [0.1 1];

num = conv(numG,numD);
den = conv(denG,denD);

%axis('square');

rlocus(num,den);

axis([-16 0 -8 8]);
set(findall(gcf,'type','line'),'linewidth',3);

title('Root Locus for Lead Compensation Design');
%axis('normal');
