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s=tf('s')
figure(1)
rlocus(ga,'b'); grid
figure(2)
gc=feedback(ga,1);step(gc,'b'); grid
%polo deseado
w=4; e=0.5;
pd=-w*e+j*w*sqrt(1-e*e)
%deficiencia angular
polos=pole(ga);ceros=zero(ga);
da=-pi-sum(angle(pd-ceros))+sum(angle(pd-polos));
def=da*180/pi
z=pi-(pi-angle(pd))-((0.5*angle(pd))-(0.5*da));
cero=real(pd)-((imag(pd))/(tan(z)))
%ubiacion del polo
p=pi-0.5*angle(pd)-da*0.5-(pi-angle(pd));
polo=real(pd)-((imag(pd))/(tan(p)))
%compensador
nco=[1 -cero]
dco=[1 -polo]
k=(abs(polyval(conv(d,dco),pd)))/(abs(polyval(conv(n,nco),pd)))
gco=tf(nco,dco)
gcl=k*gco
nsc=k*conv(n,nco);dsc=conv(d,dco);
gsc=tf(nsc,dsc)
figure(3)
rlocus(n,d,'b');grid; hold on
figure(4)