A novel root locus calibrated in real gain in the inverse s plane

The design of feedback control systems is presented by means of a novel root locus method in the plane of the inverse of the Laplace´s variable. The steady-state error constants are unified in a generalized static gain and denominated real gain, which coincides with the gain coefficient used in the Bode, Nyquist, and Nichols methods. The design of compensators becomes easier and straightforward for both steady-state and transient performance. Some illusory effects occurring in the conventional s-plane design are discussed and eliminated