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I have this close loop transfer function:
It overshoots, but why? The poles are placed such that that the damping = 1, so why the overshoot?
The zero in the transfer function has an anticipatory effect that you can easily see as an overshoot.
However, since the zero is in the left half of the s-plane, you can consider the pole-zero cancellation as a suitable technique to get rid of that zero.
Required, but never shown