Given a bode diagram of loop transmission function, I have heard that it's possible to qualitatively assess the behavior of the system in time domain. These characteristics include delay time, settling time, overshoot and steady state error. My question is how?
For example, I know that the delay time in general increases when the relative degree of the system is increased. Are there any shortcuts like this that I can infer from bode plots? What parts in particular should I look for in a bode diagram?