http://en.wikibooks.org/wiki/Control_Systems/System_Metrics#System_Order
Didn't have the Art Of Control Engineering textbook today.
So here is from the web:
Time Constants
http://www.facstaff.bucknell.edu/mastascu/eLessonsHTML/SysDyn/SysDyn3TCBasic.htm
System Response Identification
http://www.facstaff.bucknell.edu/mastascu/econtrolhtml/SysIdent/Ident1.html
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