Step 1: Determine the characteristic equation of the closed-loop system as 1+GH(s)=0 (4.11) and rearrange the equation, if necessary so that the parameter of interest appears as the multiplying factor in the form 1+KP(s)=0 (4.12) where is a ratio of two polynomials in 2022-2-32022-2-3 11 Step 1: Determine the characteristic equation of the closed-loop system as 1 GH s  0 and rearrange the equation, if necessary, so that the parameter of interest, , appears as the multiplying factor in the form 1 KP s  0 where is a ratio of two polynomials in . (4.11) (4.12)