% Problem 7.10
A=[0     1  0      0       0       0     0 
   0     0  0.2   -0.05   -0.002   2.6   0
  -0.014 1 -0.041  0.0002 -0.015  -0.033 0
   0     0  0      0       1       0     0
   0     0  0    -45      -0.13  255     0
   0     0  0      0       0       0     1
   0     0  0      0       0     -50   -10];

B=[0; 0; 0; 0; 0; 0; 1];

C=[1 0 0 0 0 0 0];

D=0;

[num,den]=ss2tf(A,B,C,D,1);
for j=1:length(num),
    if abs(num(j))<1.e-10
       num(j)=0;
    end
end
printsys(num,den,'s')
[p,z]=pzmap(num,den)
rlocus(num,den)
axis([-10 1 -8 8])
grid
