Measures of overshoot, speed of response and robustness are derived based on the state transition matrix of the closed-loop system. A measure of overshoot is defined as the maximum value of the weighted norm of the state transition matrix. An exponentially decaying envelope is defined which confines the norm of the state transition matrix. The ratio of the amplitude and decrement factor defining the envelope is shown to be a measure of robustness. Comparison with other measures is given. The importance of the proposed measures is illustrated using numerical examples.