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s is an operator. A transfer function is a shorthand for a differential equation that describes

the behavior of a linear system. You can use a transfer function almost directly to get a frequency response of a system by substituting values into s, but to get a response to a signal in the time domain, you need to simulate the system, or solve the inverse Laplace transform of the output signal.

I have this transfer function of an open-loop control system:

H(s) / Qi(s) = R / A x Rs + 1

I'm not sure which method I should use, whether to substitute values into s or do inverse Laplace transform on output signal.

Which would you suggest and what is the answer to that solution?

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