KGis=K 1+j0 d(s) (4.2) This condition may be written into two separate conditions as follows The magnitude condition: kG()=km(-1 (4.3) The angle condition: ∠KG()=±180(2k+1) (4.4) where 毳=0,土1,土2, As an example consider a second-order system shown below 2022-2-3 42022-2-3 4 This condition may be written into two separate conditions as follows. The magnitude condition: The angle condition: where . As an example consider a second-order system shown below. (4.2) (4.3) (4.4)