% Example rldesign.PI-1

G = zpk([], [-2, -5], 10)

rlocus(G, 0:.1:10)

%%

K1 = 4.9;

rpole = -3.5;

zeroc = rpole / 5;

C = zpk([zeroc], [0], K1)

rlocus(C * G)

%%

K2 = 0.887;

step(feedback(K2 * C * G, 1))