How can we tell a closed loop system is stable? Say H is 1.

So closed loop TF becomes G/1+G We will tell that the system is stable if the poles of G/1+G lie on left s-plane. Then what shall we set out to find? Solve 1+G. That would be finding the zero of 1+G. So we say that, zero of 1+G (in Ogata, 1+G is F(s) ignoring H) is actually the pole of Closed Loop TF. And pole of 1+G is actually pole of G itself, which is the pole of Open loop TF. In short, Zero of F(s) (1+G) gives the Poles of Closed loop (this is what we were looking for). And this is the Z in the formula N=Z-P in Nyquist criterion. And the poles of F(s) are the Open loop poles. This is the P in the formula N=Z-P. So, in drawing the Nyquist plot, we have the P from the open-loop TF i.e. G. We find the number of encirclements N. And then we find Z, which are actually the Closed loop poles telling whether the system is stable or not.