The general form for a second order system is given by:

$G(s)=\frac{{}^2}{(s^2+2S+{}^2)},Ts=\frac{4}{}$

$Tp=\frac{}{\sqrt[\phantom{2}]{1-{}^2}}$

percent overshoot $=e^{-\frac{}{\sqrt[\phantom{2}]{1-{}^2}}}100$