% Nise Problem 9.1

G = zpk([], [-1, -3, -10], 1);

rlocus(G)

%% 

K1 = 73;

rpole = -1.5;

zeroc = rpole / 10;

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

rlocus(C * G)

%% 

K2 = 0.983;

step(feedback(K1 * G, 1))
hold on
step(feedback(K2 * C * G, 1))
hold off

%%

zeroc2 = rpole / 5;

C2 = zpk([zeroc2], [0], K1)

rlocus(C2 * G)

%%

K22 = 0.939;

step(feedback(K22 * C2 * G, 1))
hold on