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.