FIGURE 7.

23 Plot of roots of a second-order characteristic equation in the s plane and their correlation to the transient solution in
the time domain for step input: (a) underdamped, stable, 0 < z < 1; (b) critically damped, stable, z ¼ 1; (c) real roots, overdamped,
stable, z > 1; (d) undamped, sustained oscillations, z ¼ 0; (e) real roots, unstable, z < 1; (f ) underdamped, unstable, 0 > z > 1:

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