I have a designed feedback control system trying to minimize the overshoot and the setting time. The zeta I (think) ended up with is 0.94. According to this formula: I am supposed to have a very small overshoot. However the step response of the system looks like this: The poles are: 0.0000 + 0.0000i (0 is also a zero, so do they cancel?) -2.0000 + 0.0000i -0.5313 + 0.1740i -0.5313 - 0.1740i -0.5600 + 0.0000i -0.0600 + 0.0000i Does that formula apply only for second order system? Or must I have miscalculated something?