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In general, the transfer function of closed loop system is

(Y/X)=G*K/(1+G*K*H) ----- negative feedback

(Y/X)=G*K/(1-G*K*H) ----- positive feedback

where

G- transfer function of the plant 0r system

K - controller

H - feedback transfer function

Y-output in laplace domain

X-reference in laplace domain so the transfer function of the closed loop system with unity feedback is

so H=1(unity)

(Y/X)=G*K/(1+G*K) ------- negative feedback

(Y/X)=G*K/(1-G*K) ------- positive feedback

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