clear
close all
s=tf('s');
t=0:0.001:10;
Gp=1/(s*(s+2));

K=-2:0.01:2;
rlocus(Gp,K)

% r=rlocus(Gp,K);
% figure; plot(r,'.')
% axis([-2.5 0.5 -10 10])
% grid

K=1.51;
Gc=K;
Gla=series(Gc,Gp);
Glc=feedback(Gla,1);
zpk(Glc)
pole(Glc)
figure; step(Glc,t)
figure; pzmap(Glc)