Equations Used (Underdamped 0 < ζ < 1):

ωd = ωn √(1 − ζ²)

Tp = π / ωd

%OS = 100 e^(-ζπ / √(1 − ζ²))

Ts (2%) = 4 / (ζ ωn)

θ = tan⁻¹( √(1 − ζ²) / ζ )

Tr = (π − θ) / ωd