% DS rldesign.22

G = zpk([-20], [-10, -4, -1], 10);

Tr = 0.2;
OS = 25;

zeta = -log(OS / 100) / sqrt(pi^2 + log(OS / 100)^2)

%% From table exact.2

wn = 1.25 / Tr

wd = wn * sqrt(1 - zeta^2);

phi = -zeta * wn + wd * i