The time response of any system has two components:

Time Domain System

(a) Transient response: This component of the response will (for a stable system) decay, usually
exponentially, to zero as time increases. It is a function only of the system dynamics, and is
independent of the input quantity.
(b) Steady-state response: This is the response of the system after the transient component had
decayed and is a function of both the system dynamics and the input quantity.

The total response of the system is always the sum of the transient and steady-state components.
Differences between input function and system response are called transient errors during the transient
period, and steady-state errors during the steady-state period

Laplace Transform
Transfer Function in Standard Form
 Integral time constant

Differential Time Constant

 Stability Criterion
Routh-Hurwitz