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THE TRANSFER FUNCTION

UNIT6

THE TRANSFER FUNCTION

OBJECTIVES

General Objective : To understand and interpret the concept of transfer

function.

Specific Objectives : At the end of the unit you will be able to :

 State the definition of transfer function.

 Identify the transfer function from a simple electric

circuit.

 Solve the transfer function from block diagram of open-

loop control system and closed-loop control system.

 Reduce a block diagram of multiple subsystem to a

single block representing the transfer function from input
to output.

 Rewrite the reduction method of block diagram.

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THE TRANSFER FUNCTION

INPUT

6.0 EXPLANATION OF THE TRANSFER FUNCTION

In this unit we discuss how to find a mathematical model, called a

Transfer Function, for linear, time-invariant electrical, mechanical and
electromechanical systems. The transfer functions is define as G(s) =
C(s)/R(s), or the ratio of the Laplace transform of the output to the Laplace
Transform of the input. This relationship is algebraic and also adapts itself to
modeling interconnected subsystems.
We realize that the physical world consists of more systems than what
we have illustrated in this unit. For example, we could apply transfer function
modeling to electrical systems. Of course, we must assume these systems to
be linear, or make linear approximations, in order to use this modeling
technique.

6.1 DEFINITION OF TRANSFER FUNCTION

The “transfer function” of a

system is :
The ratio of Laplace
Transform of the output
variable to the Laplace
Transform of the input
variable with all the initial
conditions zero.
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THE TRANSFER FUNCTION

Whenever a system is perturbed by some input signal all, of the

dependent variables in the system vary as a result. The “transfer function”
of a system is the ratio of Laplace Transform of the output variable to
the Laplace Transform of the input variable with all the initial
conditions zero. When a physical system is analysed, a mathematical
model is developed by writing differential equations with the help of various
physical laws governing the system.

The steps involved in obtaining the transfer function are as follows :

(i) Write the differential equations governing the system.
(ii) Laplace Transform the equations i.e, to replace the terms
involving d/dt by s and ∫ dt by 1/s .
(iii) Obtain the ratio of Transformed output to input variables.

6.2 DERIVATION OF TRANSFER FUNCTION FROM THE EASIER

ELECTRIC CIRCUIT

There are assumptions made while deriving Transfer Function of

electrical systems.
(i) When a device is a part of a larger system, it should not load
the source which provides it input signal, i.e., ideally the source
should have zero (or low) internal impedance.
(ii) The output of the device should not be loaded by the
component that receives its output signal. The systems is
approximated by linear lumped parameters model with suitable
assumptions

The loading effects occur with electrical, mechanical, electromechanical and

fluid devices and should be taken into account while deriving transfer
functions.
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THE TRANSFER FUNCTION

Let us now implement the procedure of the deriving the transfer

functions through various examples to follow :

Example 6.1 : Obtain the transfer function of the circuit shown in Figure 6.1

R L

vi(t) C vo(t)

Figure 6.1 : An RLC electrical circuit

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

Assume the current response i (t) due to a change in applied voltage

v (t) is required.

Application of Kirchhoff’s voltage law around the circuit gives

di 1
dt C 
vi(t )  Ri (t )  L  idt

(6.2.1)

1
C
vo(t )  idt

(6.2.2)

Laplace Transforming equations (6.2.1) and (6.2.2) we have,

1
Vi ( s )  RI ( s )  LsI ( s )  I ( s) (6.2.3)
Cs
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THE TRANSFER FUNCTION

1
Vo ( s )  I (s) (6.2.4)
Cs

Hence we have from equations (6.2.3) and (6.2.4),

Vo ( s ) 1

Vi ( s ) Cs L  CsR  1
2

Example 6.2 : Derive the transfer function of the circuit shown in Figure 6.2

vi(t) C vo(t)

Figure 6.2 : An RC electrical circuit

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

Writing the differential equations with the help of Kirchhoff’s voltage law

1
C
vi (t )  Ri (t )  idt (6.2.5)

1
C
vo(t )  idt

(6.2.6)

Laplace Transforming equations (6.2.5) and (6.2.6) we have,

1
Vi ( s )  RI ( s )  I ( s) (6.2.7)
Cs
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THE TRANSFER FUNCTION

1
Vo ( s )  I (s) (6.2.8)
Cs

Hence we have from equations (6.2.7) and (6.2.8),

Vo ( s ) 1

Vi ( s ) 1  sRC
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THE TRANSFER FUNCTION

Activity 6A

TEST YOUR UNDERSTANDING BEFORE YOU CONTINUE WITH THE

NEXT INPUT…!

6.1 Define the transfer function.

6.2 For the network given, what is the transfer function?

R
vi(t) vo(t)
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THE TRANSFER FUNCTION

Feedback To Activity 6A

6.1 The “transfer function” of a system is the ratio of Laplace

Transform of the output variable to the Laplace Transform of the
input variable with all the initial conditions zero.

6.2 Writing the differential equations with the help of Kirchhoff’s voltage
law

1
C
vi (t )  idt  Ri (t ) (6.2.9)

vo(t )  Ri (t ) (6.2.10)

Laplace Transforming equations (6.2.9) and (6.2.10) we have,

1
Vi ( s )  I ( s )  RI ( s ) (6.2.11)
Cs

Vo ( s )  RI ( s )
(6.2.12)
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THE TRANSFER FUNCTION

Hence we have from equations (6.2.11) and (6.2.12),

Vo ( s) RCs

Vi ( s ) 1  RCs

INPUT

6.3 DERIVATION OF TRANSFER FUNCTION FROM BLOCK DIAGRAM

SYSTEMS

We can make a simple transfer function from a complete

diagram whether in open-loop control system or closed-loop control
system.

6.3.1 Open-loop Control System

A system without feedback is called an open-loop system.

R(s) C(s)
G(s)

Input Output

Figure 6.3 : Block diagram of open-loop system

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)
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THE TRANSFER FUNCTION

For open loop system,

C(s) = G(s) R(s)

6.3.2 Closed-loop control system

All automatic control systems are of the closed-loop type of control
system. This is necessitated by the introduction of feedback for
comparing the reference input R(s), with the controlled output C(s).

E(s)

G(s)

R(s) C(s)
_

B(s)
H(s)

Figure 6.4 : Block diagram of closed-loop system

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

Let us assume that,

R(s) = input (reference) or controlling variable

C(s) = output or controlled variable
B(s) = feedback signal
G(s) = C(s) / E(s) = forward path transfer function
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THE TRANSFER FUNCTION

E(s) = Actuating signal

H(s) = feedback transfer function
B( s)
= G(s) H(s) = (open) loop transfer function
E (s)

C ( s)
M(s) = R ( s ) = closed-loop transfer function (control ratio)

From Figure 6.4, we have

C(s) = G(s) E(s) (6.3.1)

E(s) = R(s) – B(s)

= R(s) – H(s) C(s) (6.3.2)

Eliminating E(s) from equation (6.3.1) and (6.3.2), we have

C(s) = G(s) R(s) – G(s) H(s)C(s)

C ( s) G ( s)
= M(s) =
R( s) 1  G(s) H (s)
(6.3.3)

Hence, the system shown in Figure 6.4 can be reduced to single block
shown in Figure 6.5.

R(s) C(s)
G (s)
1  G (s) H (s)

Figure 6.5 : Reduce form of Figure 6.4

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THE TRANSFER FUNCTION

Equation (6.3.3) is valid for negative feedback system. Hence, for a positive
feedback system we have

C ( s) G ( s)
= M(s) =
R( s) 1  G(s) H (s)

In general, for a positive/negative feedback systems, the control ratio is

given by

C ( s) G(s)
= M(s) = as the case may be.
R( s) 1  G ( s) H ( s)

6.3.3 Block Diagram Reduction Rules

Rule (1) : Combining blocks in cascade

R1G1 G1 R1G1G2
R1 R1G1G2
 G1G2
G1 G2

Figure 6.6 (a) : Blocks in cascade

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THE TRANSFER FUNCTION

Rule (2) : Combining blocks in Parallel

RG1RG2
R + R RG1RG2

G1
 G1G2
RG1

G2

RG2

Figure 6.6 (b) : Blocks in Parallel

Rule (3) : Moving a pick-off point after a block

R RG R RG
G
G 
R
R 1
G
Figure 6.6 (c) : Moving a pick-off point after a block
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THE TRANSFER FUNCTION

Rule (4) : Moving a take-off point ahead of a block

RG
R RG R
G
 G

G
RG
RG

Figure 6.6 (d) : Moving a take-off point ahead of a block

Rule (5) : Moving a summing point after a block

R1R2 G[R1R2]
R1 R1G+ G[R1R2]
+
G
 G


R1

R2
G
R2 R2G

Figure 6.6 (e) : Moving a summing point after a block

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THE TRANSFER FUNCTION

Rule (6) : Moving a summing point ahead of a block

R1R2/G
R1 R1G+ R1GR2
R1GR2
G  +
G

 R1

1/G R2
R2

Figure 6.6 (f) : Moving a summing point ahead of a block

Rule (7) : Eliminating a feedback loop

+
R C
R C
G G
 1  GH

H
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THE TRANSFER FUNCTION

Figure 6.6 (g) : Eliminating a feedback loop

Figure 6.6 (a,b,c,d,e,f,g) : Block diagram reduction rules

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

6.3.4 A Block Diagram Reduction

The block diagram of a multiple-loop feedback control system is

shown in Figure 6.6. Use block diagram reduction to simplify this to a single
block relating C(s) to R(s). Note that, for clarity, the dependency upon s has
been omitted from the transfer functions within the blocks.

R(s) + +
+ C(s)

G1(s) G2(s) G3(s)

_ + _

H1(s)

H2(s)

H3(s)
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THE TRANSFER FUNCTION

Figure 6.7 Block Diagram

R(s) C(s)
G1(s) G2(s) G3(s)

- -

H1(s)
+

H2(s)

H3(s)

(a)

+
R(s) C(s)
G1(s) G2 (s)G3 (s)

H1(s)H2(s)H3(s)

(b)
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THE TRANSFER FUNCTION

R(s) C(s)
G3 ( s )G2 ( s )G1 ( s)
1  G2 ( s )G3 ( s ) H1 ( s)  H 2 ( s )  H 3 ( s)

(c)

Figure 6.8 (a,b,c) : Steps to reduce the block diagram

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

Steps to reduce the block diagram :

(Figure6.8(a)) collapse summing junctions;
(Figure6.8(b)) form equivalent cascaded system in the forward
path and equivalent parallel system in the
feedback path;
(Figure6.8(c)) form equivalent feedback system and multiply by
cascaded G1(s)

Finally, the feedback system is reduced and multiplied by G 1(s) to

yield the equivalent transfer function shown in Figure 6.7 (c ).

6.3.5 Block Diagram of Two Input System

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THE TRANSFER FUNCTION

In the present of more than one input to a system, the system may be
a single output system called a multiple-input-single-output (MISO) system or
a multiple output system called a multiple-input-multiple-output (MIMO)
system. The output of the system are obtained by applying the ‘law of
homogeneity’ or ‘Principle of Superposition’.

Let us consider a two-input linear system as shown in Figure 6.9.

D(s)

R(s) C(s)

G1 ( s) G2 ( s )
_

H(s)

Figure 6.9 : Block diagram of a two-input system

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

The response to the input R(s) is obtained by letting the disturbance

signal D(s) = 0. The corresponding block diagram is shown in Figure
6.9, which gives

CR(s) = C ( s) R(s) acting alone with D(s) = 0

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THE TRANSFER FUNCTION

 G1 ( s )G2 ( s ) 
CR(s) =   R(s)
1  G1 ( s )G2 ( s ) H ( s ) 
(6.3.4)

(a)

R(s) CR(s)
G1 ( s) G2 ( s )
-

H(s)

(b)

R(s) CR(s)

H(s)
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THE TRANSFER FUNCTION

(c)

CR(s)
R(s) G1 ( s )G2 ( s )
1  G1 ( s)G2 ( s ) H ( s )

Figure 6.10(a,b,c) : Block Diagram Reduction with R(s) alone.

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

Similarly the response to the disturbance signal D(s) is obtained by

assuming R(s) = 0. The block diagram for this case is shown in Figure
6.11, which gives

CD(s) = C (s) D(s) acting alone with R(s) = 0

 G2 ( s ) 
CD(s) =   D(s)
1  G1 ( s )G2 ( s ) H ( s) 
(6.3.5)

The actual response of the system when both R(s) and D(s) are acting
is obtained by adding the two individual responses C R(s) and CD(s).
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THE TRANSFER FUNCTION

(a)

D(s) CD(s)

G1(s) H(s)

(b)

D(s) CD(s)
G2 ( s)
-

G1(s) H(s)
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THE TRANSFER FUNCTION

(c)

CD(s)
D(s) G2 ( s)
1  G1 ( s)G2 ( s ) H ( s )

Figure 6.11 (a,b,c) : Block Diagram Reduction with D(s) alone.

(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

This example shows how superposition may be used to handle

system with more than one input :

Example 6.3: Determine the output Y(s) in the system shown below.
D(s)

R(s) + Y(s)
K 2
+ s3 +
- s

S+1
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THE TRANSFER FUNCTION

Figure 6.12 : Block diagram of a two input system in the Laplace domain
(Source : Katsuhiko Ogata (1990), Modern Control Engineering)

Solution :
1. Setting D(s) = 0, gives the transfer function between Y(s)
and R(s) as :

Y ( s) 2K

R ( s ) s ( s  3)  2 K ( s  1)

2. Setting R(s) = 0, gives the transfer function between Y(s)

and D(s) as :

Y (s) 2( s  3)

D ( s ) s ( s  3)  2 K ( s  1)

Since a Laplace transfer function is a linear operator, the

principle of superposition is used to generate the overall output
as the sum of the two input contributions:

2 KR ( s ) 2( s  3) D ( s )
Y (s)  
s ( s  3)  2 K ( s  1) s ( s  3)  2 K ( s  1)
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THE TRANSFER FUNCTION

or

2 KR ( s )  2( s  3) D( s )
Y ( s) 
s( s  3)  2 K ( s  1)

Activity 6B

TEST YOUR UNDERSTANDING BEFORE YOU CONTINUE WITH THE

NEXT INPUT…!

6.3 The block diagram of a certain system is shown below. Determine

the transfer function Y(s)/U(s).

Y(s)
U(s)
G1(s) G2(s)

6.4 The block diagram of a certain system is shown below. Determine

the transfer function C(s)/R(s).
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THE TRANSFER FUNCTION

C(s)
R(s)
G(s)

Feedback To Activity 6B

Y ( s) G1 ( s )G2 ( s )
6.3 =
U ( s) 1  G1 ( s )G2 ( s )

C ( s) G (s)
6.4 =
R( s) 1  G( s)
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THE TRANSFER FUNCTION

KEY FACTS

1. The transfer functions is define as G(s) = C(s)/R(s), or the ratio of the

Laplace transform of the output to the Laplace Transform of the input.
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SELF-ASSESSMENT

You are approaching success. Try all the questions in this self-assessment
section and check your answers with those given in the Feedback on Self-
Assessment given on the next page. If you face any problems, discuss it
with your lecturer. Good luck.

Q6-1 State the steps to obtain the transfer function.

Q6-2
(a) The transfer function E0(s)/E1(s) of the RC-network shown is
given by:

C
Ei(t) Eo(t)
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THE TRANSFER FUNCTION

(b)
R

L
Ei(t) Eo(t)

Q6-3
Simplify the block diagram in the figure below and obtain the closed
loop in transfer function C(s)/R(s).

+
R(s) G1 +
C(s)

- G2 +

G3

-
G4
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THE TRANSFER FUNCTION

Feedback To Self-Assessment

Have you tried the questions????? If “YES”, check your answers now.

Q6-1 The steps involved in obtaining the transfer function are as follows :
(i) To write the differential equations governing the system.
(ii) To Laplace Transform the equations i.e, to replace the terms
involving d/dt by s and ∫ dt by 1/s .
(iii) To obtain the ratio of Transformed output to input variables.

E0 ( s ) 1
Q6-2 (a) 
Ei ( s ) RCs  1

E0 ( s ) Ls
(b) 
Ei ( s ) R  Ls

Q6-3

R(s) C(s)
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THE TRANSFER FUNCTION

G1 + G2

G 3 – G4

C ( s) (G1  G2 )

R( s ) 1  (G1  G2 )(G3  G4 )

C(s)
R(s)
(G1  G2 )
1  (G1  G2 )(G3  G4 )