%  Figure 10.42      Feedback Control of Dynamic Systems, 6e
%                        Franklin, Powell, Emami
%
% fig10_42.m is a script to generate Figure 10.42, the root locus for   
% altitude control with inner-loop stabilization and altitude feedback
% alone

clf;
ftq = [-0.0064    0.0263         0  -32.2000         0;
   -0.0941   -0.6240  761.1400 -196.2000         0;
   -0.0002   -0.0015   -4.4120  -12.4800         0;
         0         0    1.0000         0         0;
         0   -1.0000         0  830.0000         0];

g =[0;
  -32.7000;
   -2.0800;
         0;
         0];

h=[0 0 0 0 1];

j=0;

rlocus(ftq,g,-h,j);
v=[-12 12 -4 4];
axis(v);
grid;
title('Fig. 10.42  Rootlocus for altitude feedback with inner-loop stab.')

