1 5on±jnV1-52=-1八K-1for0≤≤1 (4.5) When the two roots are and notice that when the two roots are poles of open-loop transfer function. As increases we can trace the roots of the characteristic equation on the complex plane using the magnitude and angle condition, i.e KG(s) (46) S+2 ∠G(s)=∠G()=∠1 =±180°(2k+1 sS+ 2) (4.7) 2022-2-3 52022-2-3 5 When , the two roots are and . Notice that when , the two roots are poles of open-loop transfer function. As increases, we can trace the roots of the characteristic equation on the complex - plane using the magnitude and angle condition, i.e., 2 1 2 , 1 1 1 for 0 1 n n s s    j     j K         1 2 K KG s s s            1 180 2 1 2 KG s G s k s s           (4.5) (4.6) (4.7)