Laplace

Transfer Function Transform

By: Dr Abdul Baseer Buriro
 Mathematical Modelling
• Mathematical models of physical systems are
key elements in the design and analysis of
control systems.
• Apply the fundamental physical laws of
science and engineering
• A DE can describe the relationship between
the input and output of a system

2
 A Review of Laplace Transform
• An operation that transform a function of time
into a function of complex frequency (s)

•
•
• Laplace is an extension of Fourier transform

3
 Partial Fraction
• Complicated functions are converted to a sum
of simpler terms for which the is known
• If , where then a partial-fraction expansion
can be made
• If then must be divided by successively until
the result has a remainder whose

4
Inverse Laplace – Example

5
 Partial Fraction – Cases
• Real and distinct roots (residues)

• Real and repeated roots

6
 Partial Fraction – Cases
• Complex or imaginary roots

7
 Transfer Function
• Consider a general nth-order, linear, time-
invariant differential equation

8
 Transfer Function

• Evaluated with zero initial conditions

𝑚 𝑚 −1
𝑏𝑚 𝑠 +𝑏𝑛 −1 𝑠 +…+𝑏0
𝑅 (𝑠) 𝑛 𝑛−1
𝐶 (𝑠 )
𝑎𝑛 𝑠 +𝑎𝑛−1 𝑠 +…+𝑎0

9
 Transfer Function – Example
• Find the transfer function represented by

10
 Poles of a Transfer Function
• The values of the , that cause the transfer
function to become infinite
• Roots of the denominator of the transfer
function
• Represented by ‘X’

11
 Zeros of a Transfer Function
• The values of the that cause the transfer
function to become zero,
• The roots of the numerator of the transfer
function
• Represented by ‘0’

12
 System Response
• The output response of a system
• The forced response + the natural response

13
Poles, Zeros, and System Response

14
 Response – Example
• Find the response of the system () against .
Assume zero initial conditions.

15
PZ-map/Pole-Zero Plot

16
Pole-Zero in 3D
Stability
 Stability through PZ-map
• A standard requirement for control systems to
avoid loss of control and damage to
equipment
• Can be assessed by looking at the poles of the
closed-loop transfer function
• All poles on the LHS of the s-plane

19
Pole Location & System Response
Electrical Network – TF

21
 Example – RLC Circuit
Find the transfer function
relating the capacitor
voltage, , to the input
voltage, .

𝑡
𝑑 𝑖 (𝑡 ) 1
𝐿 + 𝑅𝑖 (𝑡 ) + ∫ 𝑖 ( 𝑡 ) 𝑑𝑡=𝑣 (𝑡 )
𝑑𝑡 𝐶 0

22
 Example – RLC Circuit
2
𝑑 𝑞 ( 𝑡 ) 𝑅𝑞 (𝑡 ) 1
𝐿 + + 𝑞(𝑡 )=𝑣 (𝑡 )
𝑑𝑡 2
𝑑𝑡 𝐶
𝑞 (𝑡)=𝐶 𝑣 𝑐 (𝑡)
2
𝑑 𝑣 𝑐 ( 𝑡 ) 𝑅 𝐶 𝑣 𝑐 (𝑡 ) 1
𝐿𝐶 + + 𝐶 𝑣 𝑐 ( 𝑡 )=𝑣( 𝑡 )
𝑑𝑡
2
𝑑𝑡 𝐶
( 𝐿𝐶 𝑠 2+ 𝑅𝐶𝑠+ 1 ) 𝑉 𝑐 ( 𝑠)=𝑉 ( 𝑠)
𝑉 𝑐 (𝑠 ) 1
𝐺 ( 𝑠) = =
𝑉 ( 𝑠 ) 𝐿𝐶 𝑠 2 + 𝑅𝐶𝑠 +1
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 Example – RLC Circuit

1
𝐿𝐶
𝑉 (𝑠) 𝑅 1
𝑉 𝑐( 𝑠)
𝑠2 + 𝑠+
𝐿 𝐿𝐶

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 Example – RLC Circuit
Another way

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 Example – RLC Circuit
𝑡
𝑑 𝑖 (𝑡 ) 1
𝐿 + 𝑅𝑖 (𝑡 ) + ∫ 𝑖 ( 𝑡 ) 𝑑𝑡=𝑣 (𝑡 )→ ( 1 )
𝑑𝑡 𝐶 0
𝑡
1
𝑉 𝑐 ( 𝑡 )= ∫ 𝑖 ( 𝑡 ) 𝑑𝑡 → ( 2 )
𝐶 0

( 𝐿𝑠+ 𝑅+
1
𝐶𝑠 )
𝐼 ( 𝑠 ) =𝑉 (𝑠 )→ ( 3 )

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 Example – RLC Circuit
1
𝑉 𝑐 ( 𝑠 )= 𝐼 ( 𝑠) → ( 4 )
𝐶𝑠
Solving (3) and (4)
𝑉 𝑐 (𝑠 ) 1
𝐺 ( 𝑠) = =
𝑉 ( 𝑠 ) 𝐿𝐶 𝑠 2 + 𝑅𝐶𝑠 +1

27
 Example – RLC Circuit – Nodal Analysis

𝑉 𝑐 ( 𝑠) − 𝑉 ( 𝑠 ) 𝑉 𝐶 ( 𝑠)
+ =0
𝑅+ 𝐿𝑠 1
𝐶𝑠

𝑉 𝐶(𝑠 ) ( 1
𝐶𝑠 )
+ 𝑅+ 𝐿𝑠 − 𝑉 ( 𝑠 )
1
𝐶𝑠
=0
( )
( 𝑅+ 𝐿𝑠 )
1
𝐶𝑠
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 Example – RLC Circuit – Nodal Analysis

( )
(𝑉 𝑐 ( 𝑠 ) − 𝑉 ( 𝑠) )
1
𝐶𝑠
+𝑉 𝐶 ( 𝑠 ) ( 𝑅+ 𝐿𝑠 )
=0
( 𝑅+ 𝐿𝑠 ) (
𝐶𝑠 )
1

𝑉 𝐶 𝑠 1+ 𝑅𝐶𝑠 + 𝐿𝐶 𝑠 ) − 𝑉 ( 𝑠 )
( ) ( 2
=0
( 𝑅+ 𝐿𝑠 )
𝑉 𝑐 ( 𝑠) 1
=
𝑉 𝑠( ) 2
𝐿𝐶 𝑠 + 𝑅𝐶𝑠 +1
29
Complex Circuits via Mesh Analysis
• Replace passive element values with their
impedances
• Replace all sources and time variables with their
Laplace transforms
• Assume a transformed current and a current
direction in each mesh
• Write Kirchhoff’s voltage law around each mesh
• Solve the simultaneous equations for the output
• Form the transfer function
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 Multiple Loops – Example
Find the transfer function,

31
 Multiple Loops – Example
𝑉 ( 𝑠 )=𝑅 1 𝐼 1 ( 𝑠 ) + 𝐿𝑠 𝐼 1 ( 𝑠 ) − 𝐿𝑠 𝐼 2 (𝑠 )
1
0=𝑅 2 𝐼 2 ( 𝑠 )+ 𝐿𝑠 𝐼 2 ( 𝑠 ) − 𝐿𝑠 𝐼 1 ( 𝑠 ) + 𝐼 2 ( 𝑠)
𝐶𝑠
𝑉 ( 𝑠 )=𝐼 1 ( 𝑠 ) ( 𝑅 1+ 𝐿𝑠 ) − 𝐿𝑠 𝐼 2 (𝑠)

(
0=− 𝐿𝑠 𝐼 1 ( 𝑠 )+ 𝑅2 + 𝐿𝑠+
1
𝐶𝑠
𝐼 2 (𝑠 ) )
32
 Multiple Loops – Example
𝐼 2 ( 𝑠) 𝐿𝐶 𝑠
2
= 2
𝑉 ( 𝑠 ) ( 𝑅 1+ 𝑅2 ) 𝐿𝐶 𝑠 + ( 𝑅1 𝑅2 𝐶 + 𝐿) 𝑠+ 𝑅1

33
Mesh Equations via Inspection – Example

( 2 𝑠 +2 ) 𝐼 1 ( 𝑠 ) − ( 2 𝑠 +1 ) 𝐼 2 ( 𝑠 ) − 𝐼 3 ( 𝑠 )=𝑉 ( 𝑠)
( 9 𝑠+1 ) 𝐼 2 ( 𝑠 ) − ( 2 𝑠+2 ) 𝐼 1 ( 𝑠 ) − 4 𝑠 𝐼 3 ( 𝑠 ) =0
( 4 𝑠+1+1/ 𝑠 ) 𝐼 3 ( 𝑠 ) − 𝐼 1 ( 𝑠 ) − 4 𝑠 𝐼 2 ( 𝑠 )=0
34
 Operational Amplifiers
• Differential input,
• High input
impedance, (ideal)
• Low output
impedance, (ideal)

35
 Operational Amplifiers
• High constant gain
amplification, (ideal)
• The output,

36
 Inverting Amplifiers

• Under Ideal Cond.

37
 PID Controller – Example
1
𝑍 1 ( 𝑠 )=
1
𝐶1 𝑠 +
𝑅1
1
𝑍 2 ( 𝑠 ) =𝑅2 +
𝐶2 𝑠
𝑉 𝑜 ( 𝑠) 2
𝑠 + 45.95 𝑠 +22.5
=− 1.232
𝑉 𝑖 (𝑠 ) 𝑠

38
 Non-inverting Amplifiers
1 𝑅1 𝐶 1 𝑠+ 1
𝑍 1 ( 𝑠 )= 𝑅1 + =
𝐶1 𝑠 𝐶1 𝑠
𝑅2
𝐶2 𝑠 𝑅2
𝑍 2 ( 𝑠) = =
1 𝑅2 𝐶 2 𝑠+ 1
𝑅2+
𝐶2 𝑠

39
Translational Mechanical Systems

40
 Mechanical Systems
• Analogies b/w mechanical systems and electrical
networks. Force-velocity vs voltage-current:

41
 Mechanical Systems
• Analogies b/w mechanical systems and electrical
networks. Force- displacement vs voltage-charge:

42
 Mechanical Systems
• in terms of and (mesh equations) in terms of
are analogous
• in terms of resemble, but are not analogous
to the mesh equations
• However, this approach can be used to write
the in terms of

43
 Mechanical Systems
• Force-velocity vs voltage-current in reverse order,
i.e., force vs current and velocity vs voltage

in terms of is analogous to in terms of voltage and

the resulting mechanical differential equations are
analogous to nodal equations.

44
 Mechanical Systems
• Require one differential equation – equation
of motion
• Free-body diagram – placing on the body all
forces that act on the body
• Newton’s third law of motion
• Laplace transform, assuming zero initial
conditions

45
 Transfer Function – Example

2
𝑑𝑥 ( 𝑡 ) 𝑑 𝑥 (𝑡)
𝑓 ( 𝑡 ) = 𝐾𝑥 ( 𝑡 ) + 𝑓 𝑣 +𝑀
𝑑𝑡 𝑑 𝑡2

46
 Transfer Function – Example

2
( ) ( )
𝐹 𝑠 =𝐾𝑋 𝑠 + 𝑓 𝑣 𝑠𝑋 ( 𝑠)+ 𝑀 𝑠 𝑋 ( 𝑠)

𝐹 ( 𝑠 ) =( 𝐾 + 𝑓 𝑣 𝑠+ 𝑀 𝑠 2 ) 𝑋 (𝑠 )

47
 Transfer Function – Example
𝑋 ( 𝑠) 1
=
𝐹 ( 𝑠 ) 𝑀 𝑠2 + 𝑓 𝑣 𝑠+ 𝐾

1
𝐹 (𝑠 ) 2 𝑋 (𝑠 )
𝑀 𝑠 + 𝑓 𝑣 𝑠+ 𝐾

48
 Mechanical Systems
• For multiple-loop and multiple-node electrical
networks, multiple simultaneous differential
equations describe the system
• # equations = # linearly independent motions
(# degrees of freedom)

49
Transfer Function – Example

50
Transfer Function – Example

51
 Transfer Function – Example

𝑋 2 ( 𝑠) 𝑓 𝑣 3 𝑠 + 𝐾 2
=
𝐹 (𝑠 ) Δ

∑ 𝐹 𝑖=0
52
Equations of Motion by Inspection -
Example

53
 Equations of Motion by Inspection -
Example

[ 𝑀 𝑠 +( 𝑓
3
2
𝑣3 +𝑓 𝑣4 ) 𝑠 ] 𝑋 3 ( 𝑠) − 𝑓 𝑣3 𝑠 𝑋1 ( 𝑠 ) − 𝑓 𝑣4 𝑋 2 (𝑠)=0

54
 Transfer Function – Example

2
( 𝑠 +3 𝑠+ 1) 𝑋 1 ( 𝑠 ) − (𝑠 +1) 𝑋 2 ( 𝑠 )= 𝐹 ( 𝑠)
2
( 𝑠 +2 𝑠+1) 𝑋 2 ( 𝑠 ) − (3 𝑠 +1) 𝑋 1 ( 𝑠 )=0

55
 Transfer Function – Example

[ ][ ] [ ]
2
(𝑠 +3𝑠+1) −(𝑠+1) 𝑋 1 ( 𝑠 ) 𝐹 (𝑠)
2 =
−(3 𝑠+1) (𝑠 +2𝑠+1) 𝑋 2 ( 𝑠 ) 0

56
Rotational Mechanical Systems

57
Example – Transfer Function

is held still and is held still and Final free-body

rotated rotated diagram for
58
Example – Transfer Function

Torques on due to Torques on due to Final free-body

motions in motions in diagram for

𝐾 𝜃1 ( 𝑠 ) + 𝐷1 𝑠 𝜃1 ( 𝑠 ) + 𝐽 1 𝑠2 𝜃 1 ( 𝑠 ) − 𝐾 𝜃2 ( 𝑠 )=𝑇 ( 𝑠)

𝐾 𝜃2 ( 𝑠 ) + 𝐷 2 𝑠 𝜃 2 ( 𝑠 ) + 𝐽 2 𝑠 2 𝜃2 ( 𝑠 ) − 𝐾 𝜃1 ( 𝑠 )=0

59
 Example – Transfer Function

( 𝐾 + 𝐷1 𝑠 + 𝐽 1 𝑠2 ) 𝜃1 ( 𝑠 ) − 𝐾 𝜃2 ( 𝑠 )=𝑇 ( 𝑠)

( 𝐾 + 𝐷 2 𝑠+ 𝐽 2 𝑠 2 ) 𝜃 2 ( 𝑠 )= 𝐾 𝜃1 ( 𝑠 )

( 𝐾 + 𝐷1 𝑠 + 𝐽 1 𝑠2 )( 𝐾 + 𝐷2 𝑠+ 𝐽 2 𝑠 2 ) − 𝐾 2
𝜃2 ( 𝑠 )=𝑇 ( 𝑠)
𝐾

𝜃 2 ( 𝑠) 𝐾
=
𝑇 ( 𝑠 ) ( 𝐾 + 𝐷 1 𝑠+ 𝐽 1 𝑠 2)( 𝐾 + 𝐷2 𝑠 + 𝐽 2 𝑠2 ) − 𝐾 2

60
 Electromechanical Systems – DC Motor

• Fixed magnetic field

𝐸 𝑎 ( 𝑠 ) =𝑅𝑎 𝐼 𝑎 ( 𝑠)+ 𝐿𝑎 𝑠 𝐼 𝑎 (𝑠)+ 𝐸𝑏 (𝑠 )

𝑇 𝑚 ( 𝑠 )=𝐾 𝑡 𝐼 𝑎 (𝑠)

61
 DC Motor
𝐸 𝑎 ( 𝑠 ) =𝑅𝑎 𝐼 𝑎 (𝑠)+ 𝐿𝑎 𝑠 𝐼 𝑎 (𝑠)+ 𝐾 𝑏 𝑠 𝜃𝑚 (𝑠)

( 𝑅𝑎 + 𝐿𝑎 𝑠 ) 𝑇 𝑚 ( 𝑠 )
𝐸 𝑎 ( 𝑠) = + 𝐾 𝑏 𝑠 𝜃 𝑚 ( 𝑠)
𝐾𝑡

𝑇 𝑚 ( 𝑠 )=( 𝐽 𝑚 𝑠 2 + 𝐷𝑚 𝑠 ) 𝜃𝑚 (𝑠)

𝐸𝑎 ( 𝑠) =
{(𝑅 𝑎 + 𝐿 𝑎 𝑠 ) ( 𝐽 𝑚 𝑠 + 𝐷𝑚 𝑠 ) + 𝐾 𝑏 𝑠 𝐾 𝑡 } 𝜃 𝑚 ( 𝑠 )
2

𝐾𝑡

62
 DC Motor
𝜃 𝑚( 𝑠) 𝐾𝑡
=
𝐸 𝑎 ( 𝑠 ) ( 𝑅𝑎 + 𝐿𝑎 𝑠 ) ( 𝐽 𝑚 𝑠2 + 𝐷 𝑚 𝑠 ) + 𝐾 𝑏 𝑠 𝐾 𝑡

𝐾𝑡
𝜃 𝑚( 𝑠) 𝑅𝑎 𝐽 𝑚
=

{ )}
𝐸 𝑎 ( 𝑠)
𝑠 𝑠+
1
𝐽𝑚 (
𝐷𝑚+
𝐾𝑏 𝐾𝑡
𝑅𝑎

𝜃 𝑚( 𝑠) 𝐾
=
𝐸 𝑎 ( 𝑠 ) 𝑠( 𝑠 +𝛼)

63