/****************************
 * File name: rlf_comp.ch
 ***************************/

#include <control.h>

int main() {
    // default system gain
    double dk = 1;

    // compensated system zero
    array double complex cz[1] = {complex(-0.5, 0)};

    // compensated system poles
    array double complex cp[4] = {complex(-0.015, 0),
                                  complex(-1, 0),
                                  complex(-2, 0),
                                  complex(-10, 0)};

    // dominant pole selected from the root locus 
    array double complex dp[1] = {complex(-0.97, 2.25)};

    // closed-loop poles when one of the dominant poles is selected  
    array double complex p[4];

    // system gain when one of the dominant poles is selected  
    array double k[1];

    CControl sys;

    sys.model("zpk", cz, cp, dk);
    sys.rlocfind(k, p, dp);
    printf("k: %f\n", k);
    printf("poles: %f\n", p);
    
    return 0;
}