Yeah, like Azzi is hinting: The regular Root Locus shows you where the solutions of the equation 1+k*G(s) = 0 go as you increase k from 0 to infinity.
Assuming you are interested in the transfer function from left to right here, it is
G_H/(1 + k_2*G_H*(s+1)/(s+9) ),
and so the closed-loop poles are precisely the solutions of 1 + k_2*G_H*(s+1)/(s+9) = 0. You will actually find, that this is the case for any transfer function in your loop, e.g. say from T_d to the controller output etc.
Anyway, you might be confused by the way the closed loop is written, probably you expect the controller in the forward path together with G_H, but you can just use the "normal" root locus techniques here, no trickery needed.
rlocus( series(G_H, tf([1 1],[1 9]) ) )