Before revision: Research Triangle Park, NC 27709, USA: ISA - The Instrumentation, Systems, and Automation Society, 1995. where and denote the plant and controller's transfer function in a basic closed loop control system using unity negative feedback.
After revision: written in the Laplace domainResearch Triangle Park, NC 27709, USA: ISA - The Instrumentation, Systems, and Automation Society, 1995. where and denote the plant and controller's transfer function in a basic closed loop control system using unity negative feedback.