PID compensation in the domain

z = tf('z'); sys = (0.003841*z^2)/((z - 1)*(z - 0.9048)*(z - 0.8187)*(z - 0.7408)*(z - 0.6703)); rlocus(sys)
axis([-0.7 1.2 -0.7 0.7])
zeta = 0.456;
zgrid(zeta,-1)