4 major characteristics of the closed-loop step response.
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Rise Time: the time it takes for the plant output y to rise beyond 90% of the desired level for the first time.
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Overshoot: how much the the peak level is higher than the steady state, normalized against the steady state.
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Settling Time: the time it takes for the system to converge to its steady state.
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Steady-state Error: the difference between the steadystate output and the desired output.