%%
close all;


gain = -20
zeros = [2,-5]


poles = [-4, -10 , 1+2j, 1-2j]
sys1 = zpk(zeros,poles,gain)%

sys1=tf(sys1)

K = -[0,0.5,0.75,1,2];

%%
figure;


k = K(1)
sys = feedback(sys1, k);
pzmap(sys);
hold on;
%%
k = K(2)
sys = feedback(sys1, k);
pzmap(sys);
hold on;
%%
k = K(3)
sys = feedback(sys1, k);
pzmap(sys);
hold on;
%%
k = K(4)
sys = feedback(sys1, k);
pzmap(sys);
hold on;
%%
k = K(5)
sys = feedback(sys1, k);
pzmap(sys);
hold on;

legend('0', '.5','.75','1','2')


%%
figure;
rlocus(-sys1)