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A closed-loop control system is stable if the Nyquist plot of the corresponding open loop transfer function
Encircles the s-plane point 
in the counter clockwise direction as many times as the number of right-half s-plane poles.
encircles the s-plane point 
in the clockwise direction as many times as the number of right-half s-plane poles.
Encircles the s-plane point in the counter clockwise direction as many times as the number of left-half s-plane poles.
Encircles the s-plane point 
in the counter clockwise direction as many times as the number of right-half s-plane zeros.
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