CONTROL SYSTEMS ENGINEERING D227

S.A.E. SOLUTIONS

TUTORIAL 3 – TRANSFER FUNCTION MANIPULATION

SELF ASSESSMENT EXERCISE No.1

A simple control system consists of a potentiometer with a transfer function of 0.02V/mm in series
with an amplifier with a gain of 12, in series with a V/I converter with a transfer function I = 0.5V
where V is in volts and I in mA. The output current is amplified with a gain of 1200 and the output
current supplied to an electro-magnetic torque arm which produces 3 Nm per Amp.

Draw the block diagram and deduce the overall transfer function.
Determine the input position of the potentiometer in mm which produces a torque output of 60 Nm.

There is an inconsistency in the units of the torque arm (or V/I converter) and so we need to change
Amps to mA giving the transfer function as 0.003 N m/mA. The overall transfer function is:

T/x = 0.003 x 1200 x 0.5 x 12 x 0.02 = 0.432 N m/mm

N m mA V Nm
Units x x =
mA V mm mm
Given T = 60 N m, x = T/0.432 = 60/0.432 = 138.9 mm

SELF ASSESSMENT EXERCISE No.2

1. Find the closed loop transfer function for the system shown below.

1 1
G c.l. = =
1
+1 T s + 2 δ T s +1
2 2

2. Find the closed loop transfer function for the system shown below.

1
θ G1 s+4 1 1 1 1
G = o = = = x = =
θi 1 + G1G 2 1 s+4 2 s+4+2 s+6
1+ x2 1+
s+4 s+4
3. Find the closed loop transfer function for the system shown below.

θo G1
G = =
θi 1 + G1G 2
1
G=
(s + 4)(s + 1) = 1 1
1+
1 (s + 4)(s + 1) ⎛ 1 ⎞
x 2s ⎜⎜1 + x 2s ⎟⎟
(s + 4)(s + 1) ⎝ (s + 4)(s + 1) ⎠
1 1 1
G= =
(s + 4)(s + 1) ⎛ 2s ⎞ (s + 4)(s + 1) + 2s
⎜⎜1 + ⎟⎟
⎝ (s + 4)(s + 1) ⎠

SELF ASSESSMENT EXERCISE No.3

The diagram shows how the arm of a robot is controlled using a controller and motor with position
and velocity feed-back. Determine the closed loop transfer function for the system.

First find the transfer function for the forward path.

⎛2⎞ ⎛ 20 ⎞ 40k
G1 = k ⎜ ⎟ ⎜ 2 ⎟= 3
⎝ s ⎠ ⎝ s + 8s + 20 ⎠ s + 8s 2 + 20s

θo = G1θe = G1 (θi - θo -3s θo ) o = G1θi – G1θo (1 + 3s)

θo + G1θo (1 + 3s) = G1θi

θo G1
θo {1 + G1 (1 + 3s)} = G1θi =
θ i 1 + G1 (1 + 3s )
⎛ 40k ⎞
⎜ 3 ⎟
θo ⎝ s + 8s + 20s ⎠
2
40k
= = 3
θi ⎛ ⎞ s + 8s + 20s + 40 k (1 + 3s )
2
⎟(1 + 3s )
40k
1+ ⎜ 3
⎝ s + 8s + 20s ⎠
2

θo 40k
= 3
θi s + 8s + 140ks + 40k
2
SELF ASSESSMENT EXERCISE No.4

1. A simple closed loop system consists of two amplifiers in series one with a gain of 3 and one
with a gain of 2. For an input of 6 mA, determine the output when a disturbance added to the output
of magnitude i) 0 and ii) 3

The overall open loop gain is G = 3 x 2 = 6

Put this into the θ o =
(Gθi + d ) and θ = (6θ i + d ) put θ = 6 and θ = (36 + d )
(1 + G ) o
(7 ) i o
(7 )
When d = 0, θo = 36/7
When d = 3, θo = 39/7

2. The forward path transfer function for a controlled system is G1(s)= 2/(3s2+ 1)

Determine the transfer function for the feedback path which eliminates the affect of a disturbance.

The affect of the disturbance is completely removed when G1 = 1/G2 = (3s2+ 1)/2

SELF ASSESSMENT EXERCISE No.5

1. The forward path transfer function of a controlled system is G(s) = 6/(s + 3). In order to
eliminate disturbances added to the output, a P + D feedback path is used. Find the value of the
derivative time and the constant required.

G2 = 1/G1 = (s + 3)/6 = k1(Ts + 1 )

Rearrange to make the forms match.
(1/6)(s + 3) = (3/6) (s/3 + 1) = k1(Ts + 1 )
Hence by comparison T = 1/3 and k1 = 0.5

2. The forward path transfer function of a controlled system is G(s) = 10/(2s + 5). In order to
eliminate disturbances added to the output, a P + D feedback path is used. Find the value of the
derivative time and the constant required.

Rearrange to make the forms match.

(1/10)(2s + 5) = (5/10) (2s/5 + 1) = k1(Ts + 1 )
Hence by comparison T = 0.4 and k1 = 0.5

3. The forward path transfer function of a controlled system is G(s) = 8/(5s + 10). In order to
eliminate disturbances added to the output, a P + D feedback path is used. Find the value of the
derivative time and the constant required.

Rearrange to make the forms match.

(1/8)(5s + 10) = (10/8) (5s/10 + 1) = k1(Ts + 1 )
Hence by comparison T = 0.5 and k1 = 1.25
 SELF ASSESSMENT EXERCISE No.6

Derive the overall transfer functions for the systems below.

1.

5 1 5
The forward path open loop transfer function is G = x =
s 0.2s + 1 0.2s 2 + s
The feedback transfer function is H = 8
5
θ G 0.2s 2 + s 5
G cl = o = = =
θ i 1 + GH 1 + 5
x 8 0.2s + s + 40
2

0.2s + s
2

2.
3.