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==Finding closed-loop poles==
When you find 'this guy'.
Consider a simple feedback system with controller <math>\textbf{G}_c = K</math>, [[plant (control theory)|plant]] <math>\textbf{G}(s)</math> and transfer function <math>\textbf{H}(s)</math> in the [[feedback path]]. Note that a [[unity feedback]] system has <math>\textbf{H}(s)=1</math> and the block is omitted. For this system, the open-loop transfer function is the product of the blocks in the forward path, <math>\textbf{G}_c\textbf{G} = K\textbf{G}</math>. The product of the blocks around the entire closed loop is <math>\textbf{G}_c\textbf{G}\textbf{H} = K\textbf{G}\textbf{H}</math>. Therefore, the closed-loop transfer function is
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