% Problem 7.7
A=[-0.2 0.5  0     0     0
    0  -0.5  1.6   0     0
    0   0  -14.28 85.71  0
    0   0    0   -25    75
    0   0    0     0   -10];

B=[0; 0; 0; 0; 30];

C=[1 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([-30 5 -15 15])
grid

