Systems and Control

Engineering I
Lecture 3
Transfer Function

AKANO, Theddeus T. (PhD)

E-mail: [email protected]
[email protected]
Office: 140 (Building 248)
The Transfer Function
Transfer Function
❑ The Transfer Function
▪ Many physical systems can be “adequately” modelled via linear
differential equations
▪ Moreover, it is often reasonable to assume constant coefficients
for the ODEs
▪ Consider the single-input single-output LTI system
r (t ) c (t ) The textbook uses r(t) and c(t) for
System generic input and output signals.
Input Output

▪ Described by an nth order constant-coefficient ODE

d n c (t ) d n −1c (t ) d m r (t ) d m −1r (t )
an + an −1 + + a0 c (t ) = bm + bm −1 + + b0 r (t ) (1)
dt n dt n −1 dt m dt m −1
The Transfer Function
d n c (t ) d n −1c (t ) d m r (t ) d m −1r (t )
an + a n −1 + + a0 c (t ) = bm + bn −1 + + b0 r (t )
dt n dt n −1 dt m dt m −1 (1)
❑Taking the LT of Eqn. (1)
 IC Terms 
an s n C ( s ) + an −1 s n −1C ( s ) + + a0C ( s ) +  
 for c (t ) 
 IC Terms 
= bm s m R ( s ) + bm −1 s m −1 R ( s ) + + b0 R ( s ) +   (2)
 for r (t ) 
 C ( s )  an s n + an −1 s n −1 + + a0  = R ( s ) bm s m + bm −1s m −1 + + b0 

❑Ignoring the initial condition terms:

 bm s m + bm −1 s m −1 + + b0  R(s) C (s)
 C (s) = R(s)  n −1  = R ( s )G ( s ) G(s)
 an s + an −1 s + + a0 
n
Input Output

The Transfer function

C ( s ) bm s m + bm −1 s m −1 + + b0 num ( s )
 G (s) = = =
R ( s ) an s n + an −1 s n −1 + + a0 den ( s )
 C ( s ) bm s m + bm −1 s m −1 + + b0 num ( s )
G (s) = = =
R ( s ) an s n + an −1 s n −1 + + a0 den ( s )

❑ The roots of the denominator polynomial are called the “poles” of the
system.
▪ Poles dominate the system's behavior 𝑮(𝒔=poles)→∞ Infinities?

❑ The roots of the numerator polynomial are called the “zeros” of the
system 𝑮(𝒔=zeros)→0

❑ Physical systems cannot have more zeros than poles.

𝒔
Why? e.g., 𝑮 𝒔 =  Non-causal!!
𝟏

❑ We can use block diagrams to represent our systems

Time Domain Laplace Domain
r (t ) c (t ) R(s) C (s) We will focus on
g(t) G(s) Laplace domain
Input Output Input Output representations!!
c (t ) = r (t )  g (t ) C ( s ) = R ( s )G ( s )
 The Transfer Function contd.

❑ What if we do NOT ignore the initial conditions?

C ( s )  an s n + an −1 s n −1 + + a0  + ( IC's for c (t ) )

= R ( s )  bm s m + bm −1 s m −1 + + b0  + ( IC's for r (t ) )

R ( s )  bm s m + bm −1 s m −1 + + b0  + ( IC's for r (t ) ) − ( IC's for c (t ) )

C (s) =
an s n + an −1 s n −1 + + a0

❑ Same denominator, hence, response still dominated by same poles.

The Transfer Function
Example I
❑ Given a system modeled as
(3)
c (t ) + 2 c (t ) = r (t )

Determine the transfer function of the system

❑ Taking the LT of Eqn. (3) gives (ignoring ICs):

sC ( s ) + 2C ( s ) = R ( s )  C (s)  s + 2 = R(s)

 1 
 C (s) = R(s)  
s+2

C (s) 1 R(s) 1 C (s)

Thus, G (s) = =
R(s) s + 2 𝑠+2
❑ Question:
▪ How would the system respond to a unit-step input (ICs =0)?
1
r (t ) = u (t )  R(s) =
s
1 1 1/ 2 1/ 2
 C ( s ) = R ( s )G ( s ) = = −
s s+2 s s+2
▪ Hence,

c (t ) = L−1  C ( s ) 
Due to pole @ s=-2

(1 − e −2 t ) , t  0
1
=
2
The Transfer Function
Example II
❑ Given the transfer function of a system as

2s + 1 R(s) 2𝑠 + 1 C (s)
G (s) = 2
s + 6s + 2 𝑠 2 + 6𝑠 + 2

Determine the ODE model of the system

❑ Then, we have,
C (s) 2s + 1
G (s) = = 2
R(s) s + 6s + 2
 C ( s )  s 2 + 6 s + 2  = R ( s )  2 s + 1

s 2 C ( s ) + 6 sC ( s ) + 2C ( s ) = 2 sR ( s ) + R ( s )

 c (t ) + 6 c (t ) + 2 c (t ) = 2 r ( t ) + r ( t )
 Example IV
R(s) 𝑠 C (s)

𝑠 + 4)(𝑠 + 8
𝑟 𝑡 = 𝑡
❑ What is the impulse response of the system? 𝑅 𝑠 =1
s A B −1 2
G (s) = = + = +  g (t ) = − e − 4 t + 2 e − 8 t , t  0
( s + 4)( s + 8) s+4 s+8 s+4 s+8

❑ What is the step response of the system? = න Impulse Response

t t t

 g ( )d =  ( −e + 2e −8 )d =  e −4 − e −8  = ( e −4 t − e −8 t ) , t  0

−4 1 1 1
0 0 4 4 0 4

❑ What is the ramp response of the system? = න Step Response

1  1 −4 t 1 −8 t  1 1   1
t

( )
1 1 −4 t 1 −8 t
4 0
−4 −8
e − e d  =  − e + e −  − +  = − e + e , t0
4 4 8  4 8  32 16 32
Complex Circuits Via Mesh Analysis
Complex circuits via mesh analysis
 Complex circuits via mesh analysis contd.
Example

Solution
Complex circuits via mesh analysis contd.
Complex circuits via mesh analysis contd.

Block Diagram
Complex circuits via mesh analysis contd.
Translational Mechanical Systems
Transfer Function
Translational Mechanical Systems Transfer Function
Translational Mechanical Systems Transfer Function contd.
Simple Systems – Transfer Function
 Simple Systems – Transfer Function contd.

Example

Find the transfer function, , for the

system of the Figure

Solution

Fig. (a.) Mass, spring, and damper system;

(b.) block diagram
due to acceleration point to the left
 Simple Systems – Transfer Function contd.

We now write the differential equation of motion using Newton’s law to sum
to zero all of the forces shown on the mass in the Figure.

Fig. (a.) Free-body diagram of mass, spring, and damper system;

(b.) Transformed free-body diagram

Write the differential equation of motion

 Simple Systems – Transfer Function contd.

Which is represented in the block diagram

Poles and Zeros
 Poles and Zeros

❑ Consider the Transfer Function

C ( s ) num ( s ) R(s) C (s)
G (s) = = 𝐺(𝑠)
R ( s ) den ( s )
▪ Poles: Roots of the denominator of the TF
G ( s ) s = pole → 
▪ Zeros: Roots of the numerator of the TF
G ( s ) s = zero → 0
 Example I

▪ Given the system R(s) 𝑠 + 2 C (s) Pole @ s = -5

𝑠+5 Zero @ s = -2

▪ The unit step (𝑅(𝑠) = 1/𝑠) response is

C ( s ) = R ( s )G ( s )
1 s+2
=
s s+5
A B From the
Not = + poles
from the s s+5 This is different from
The zero(s) ZIR and ZSR
contribute to both
poles c (t ) = A + Be −5 t , t  0
A and B = Forced + Natural
constants Response Response
 System Time Response: 1st Order Systems
❑ System Time Response: 1st Order Systems
▪ The general form of a first System Order = Number of Poles
order system can be described as
S-Plane Imag
C (s) b0
G (s) = =
R ( s ) s + a0 DC gain? −
1
K  Real
▪ More commonly written as G (s) = X
 s + 1  One Pole
▪ Unit-Step Response
1 K 1/
C (s) = =K
s  s +1 s (s +1/ ) L
a
1 − e − at
 −
t
 s(s + a)
L −1
 c (t ) = K  1 − e  , t  0
 
Poles and Zeros
System Time Response: 1st Order Systems contd.

❑ Question 1: K 𝑲
Slope =
▪ What is the ss value of 𝑐(𝑡)?
𝝉
−t
 
−t
c (t ) = K  1 − e  
   
c (t ) t → = K 1 − e   = K 𝜏: Time
  t → Constant
𝐾: DC Gain
❑ Question 2:
▪ What is the slope of the step response at 𝑡 = 0?

−t
d K K
c (t ) = e =
dt t =0  t =0

 System Time Response: 1st Order Systems contd.
❑ Question 3
▪ What is the magnitude of the 0.98K 98
%
response at 𝑡 = 𝜏?
𝜏 = Time constant 0.63K 63
−
  %
c ( ) = K  1 − e   = K (1 − e −1 )  0.63K = 63%  −t

  c (t ) = K  1 − e  
63% of ss-value!!  
❑ Question 4
▪ What is the magnitude of the
response at 𝑡 = 4𝜏? 4 × Time constant
−4
 
c (4 ) = K  1 − e   = K (1 − e −4 )  0.98 K = 98%
 

For 𝑡 > 4𝜏  steady-state