from dtk.bicycle import (benchmark_matrices,
                         benchmark_state_space_vs_speed)
from dtk.control import eig_of_series, plot_root_locus

M, C1, K0, K2 = benchmark_matrices()
v, A, B = benchmark_state_space_vs_speed(M, C1, K0, K2)
evals, evecs = eig_of_series(A)
plot_root_locus(v, evals, parName='Speed', parUnits='[m/s]')