function r = genrloc(sys,z,p,k)
%GENRLOC Generates points along root locus
%
%   R = GENRLOC(SYS,Z,P,K)  computes the poles R of the 
%   negative feedback loop
%   
%		---->o---->| SYS |---+--->
%			 |			   |
%			 +<-----| G |----+
%
%   for the values of the gain G specified in the vector K.
%   The vectors Z and P contain the zeros and poles of SYS
%   and the matrix R is N-by-length(K) where N is the number 
%   of closed-loop poles.
%
%   See also  ROCUS and RLOCFIND.

%   Author(s): A. Potvin, 12-1-93, PG 7-9-97
%   Copyright (c) 1986-97 by The MathWorks, Inc.
%   $Revision: 1.3 $  $Date: 1997/08/01 15:09:35 $


% Extract transfer function data
[num,den] = tfdata(sys,'v');
n = max(length(num),length(den))-1;

% Pre-allocate space for R
lk = length(k);
r = zeros(n,lk);
r(:) = Inf;

% For all k, determine the roots of den+k*num
for i=1:(n>0)*lk,
   ki = k(i);
   if ~isfinite(ki),
	  clr = z;
   elseif ki==0,
	  clr = p;
   else
	  clr = roots(den+k(i)*num);
   end
   nclr = length(clr);
   r(n-nclr+1:n,i) = clr;
end

% end tf/genrloc
