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+//Example 7.6
+//page 441
+//Control Systems: Principles and Design 
+//M Gopal, Second Edition, Tata McGraw-Hill
+//Chapter:Compensator Design Using Root Locus
+
+xdel(winsid())//close all graphics Windows
+clear;
+clc;
+//transfer function
+s=%s;
+P=1/((s)*(s+2)*(s^2+2*s+5));
+
+//Root locus plot using evans root locus
+f=figure()
+evans(P)
+title("Root locus of 1/((s)*(s+2)*(s^2+2*s+5))",'fontsize',5)
+h=legend('');
+h.visible="OFF"
+zoom_rect([-2 -1.5 2 1.5]*kpure(P)/3)
+a=gca();
+a.x_location="origin"
+a.y_location="origin"
+a.parent.background=8; 
+legends(['root locus';'';'asymptotic directions';'open loop poles'],[2,3,1,-2],with_box=%f,opt="ur",2.8)
+sgrid();
+K=poly(0,'K')
+R= routh_t(P,K);
+disp(R,'Routh Array=')
+kval= kpure(P)
+disp(kval,'Limiting Gain Kmax=')
+