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system is done by applying the Nyquist stability criterion to the Nyquist plot of the open-loop system (i.e. the same system without its feedback loop). This method is easily applicable even for systems with delays and other non-rational transfer functions, which may appear difficult to analyze with other methods. Stability is determined by looking at the number of encirclements of the point (-1, 0). The range of gains over which the system will be stable can be determined by looking at crossings of the

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