Transient response of system with single pole $0 \le p < 1$

1. How do poles and zeros affect step response?
2. What is meant by transient response?

How do poles and zeros affect step response?

Adding a LHP zero to the transfer function makes the step response faster (decreases the rise time and the peak time) and increases the overshoot. Adding a RHP zero to the transfer function makes the step response slower, and can make the response undershoot.

What is meant by transient response?

Definition of 'transient response'

A transient response of a circuit is a temporary change in the way that it behaves due to an external excitation, that will disappear with time. Damping oscillation is a typical transient response where the output value oscillates until finally reaching a steady-state value.