G1 = 1.65;

G2 = 3.4;

tau = 0.2;

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

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



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

n = [tau 1];

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

L0 = tf(prefactor*n,d);

    

R = rlocus(L0,G1);





