Key Concepts
Nyquist Criterion
Z = N + P. Z: RHP closed-loop poles. N: CW encirclements of −1. P: RHP open-loop poles.
Gain Margin
How much gain can increase before instability. Measured at phase = −180°.
Phase Margin
How much phase can decrease before instability. Measured at |G(jω)| = 1 (0 dB).