G2 = [1 3.4 5 10];

tau = 0.2;

B = G2*0.4*Kt./(J/tau+G2*0.4*Kt*Ktach);

wi = 1/tau+G2*(0.4)*Kt*Ktach/J;



for i = 1:4

    prefactor = B(i)*Kp/(tau*6.75);

    n = [tau 1];

    d = conv([1/wi(i) 1],[1 0 0]);

    L0 = tf(prefactor*n,d);

    

    subplot(220+i);

    rlocus(L0);

    T = sprintf('Root locus for G2 = %.1d',G2(i));

    title(T);

end

