A second-order control system has the closed-loop transfer function T(s) = Y(s)/R(s). The system specifications for a

Question:

A second-order control system has the closed-loop transfer function T(s) = Y(s)/R(s). The system specifications for a step input follow:
(1) Percent overshoot P.O. ≤ 5%.
(2) Settling time Ts < 4s.
(3) Peak time Tp < 1s.
Show the permissible area for the poles of T(s) in order to achieve the desired response. Use a 2% settling criterion to determine settling time.