/*****************************
 * File name: p9-5b_comp.ch
 ****************************/

#include <control.h>

int main() {
    // system gain
    double k = 46.05;

    // open-loop zero
    array double complex oz[1] = {complex(-0.201, 0)};
    
    // open-loop poles
    array double complex op[4] = {complex(-0.01, 0),
                                  complex(-2, 0),
                                  complex(-4, 0),
                                  complex(-6, 0)};
    array double num[1] = {1};
    array double den[1] = {1};
    double tf = 50;

    CControl sys1, sys2, *sys3;
    CPlot plot;

    sys1.model("zpk", oz, op, k);
    sys2.model("tf", num, den);
    sys3 = sys1.feedback(&sys2);
    sys3->grid(1);
    sys3->step(&plot, NULL, NULL, NULL, tf);
    
    return 0;
}