rootlocus_pid_designer plot looks strange + needs documentation #686

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From PR#684:

If I use the following code (from the now skipped unit test incontrol/tests/rootlocus_test.py:

syscont = ct.TransferFunction(1,[1, 3, 0])ct.rootlocus_pid_designer(syscont, input_signal='r', Kp0=0.01,    derivative_in_feedback_path=True)

then I get the following plot:

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