The correct answer is: D. both a and b
In an underdamped system, the transient response will exceed the value of the input at times during the transient period. This is because the system will oscillate around the steady-state value before settling down. The steady-state will be reached faster than if the system is overdamped, because the system will not oscillate as much.
Option A is correct because the transient response will exceed the value of the input at times during the transient period. This is because the system will oscillate around the steady-state value before settling down.
Option B is also correct because the steady-state will be reached faster than if the system is overdamped, because the system will not oscillate as much.
Option C is incorrect because the present overshoot is not zero. The present overshoot is the maximum value that the output exceeds the steady-state value. In an underdamped system, the present overshoot is always greater than zero.
Option E is incorrect because both options A and B are correct.