Influence of zero locations on the number of step-response extrema

Abstract 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.

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