G=zpk([],[-0.1,-20,-20],8000);
K=zpk([-0.1,-10],[0,-100],5);
K0=zpk([-0.1,-20,-20],[0],1/800);
L=series(K,G);
Unit=zpk([],[],1);

T=feedback(L,Unit);
T0=feedback(G,Unit);
S=Unit-T;
S0=Unit-T0;

figure(1);
margin(G);

figure(2);
step(T0);

figure(3);
bode(K0);
hold on;
bode(K);
hold off;

figure(4);
margin(L);

figure(5);
bode(S);
hold on;
bode(T);
hold off;

figure(6);
step(T);


