Automatica, Vol.29, No.6, 1571-1574, 1993
Influence of Zero Locations on the Number of Step-Response Extrema
A new bounding theorem for the number of extrema that may occur in the step-response of a stable linear system is presented. The derivation of an easily-computed upper bound is given to complement literature results which have previously established the existence of a lower bound. The theorem requires knowledge of the pole-zero configuration of the transfer-function and is applicable to stable systems with real zeros and real poles.