The synthesis of ¿optimum¿ transient response: Criteria and standard forms

Methods for synthesizing servomechanisms are reviewed, and it is pointed out that stability criteria, frequency, and root-locus methods reduce to conditions on the transfer-function constants. These may be made mathematically specific following Whiteley´s suggestion of ¿standard forms.¿ Eight mathematical criteria for optimum transient responses are critically examined, and the clear superiority of the minimum integral of time-multiplied absolute-value of error is demonstrated. The application of this criterion results in the selection of standard forms, which are presented in tables.