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Loop shaping is a design method where it is attempted to choose a controller such that the loop transfer function obtains the desired shape. In this module the loop transfer function is illustrated by its Nyquist plot. The module PID LoopShaping shows the Nyquist plots of the process transfer function P(s) and the loop transfer functions L(s)=P(s)C(s). It can be shown how the loop transfer functions change when controller parameters are changed and conversely what parameters are required to obtain a given shape of the loop transfer function.