For a feed back control system to be stable, the

A Roots of the characteristic equation should be real
B Poles of the closed loop transfer function should lie in the left half of the complex plane
C Bode plots of the corresponding open loop transfer function should monotoni-cally decrease
D Poles of the closed loop transfer function should lie in the right half of the complex plane

Correct Answer: Poles of the closed loop transfer function should lie in the left half of the complex plane

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