% Problem 7.4
% System model

A=[0  0.50  0.000   0.00
   0  0.00  0.349   0.00
   0 -5.24 -4.650   2.62
   0  0.00  0.000 -10.00];

B=[0; 0; 0; 10];

C=[1 0 0 0];

D=0;

%Transfer function

[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')
[z,p,k]=tf2zp(num,den)
figure(1)
rlocus(num,den);
axis([-15 5 -10 10])
grid
