TRANSFER FUNCTION

TRANSFER FUNCTION
Definition: ratio of the Laplace transform of the output to the
Laplace transform of the input. Considering all initial
conditions to zero.
r(𝑡) c(𝑡)
SYSTEM
R(𝑠) C(𝑠)
INPUT OUTPUT
(forcing action) (response)

The TF model enables us to determine the output response

to any change in an input
TRANSFER FUNCTION
Transfer Function help us to check:
• Stability of the system
• Time domain and frequency domain characteristic of
the system
• Response of the system for any given input
TRANSFER FUNCTION
The Transfer Function G(s) of the process is given as

𝐶 𝑠
𝐺 𝑠 =
𝑅 𝑠

𝑅(𝑠) 𝐺(𝑠) 𝐶(𝑠)

The output of the system is given as

𝐶 𝑠 = 𝑅 𝑠 𝐺(𝑠)
TF AND DYNAMIC SYSTEM
WHY LAPLACE TRANSFORM?
By use of Laplace Transform, we can convert many common
functions into algebraic function of complex variable s. For
example:

𝛽
ℒ 𝑠𝑖𝑛𝛽𝑡 = 2 2
𝑠 +𝛽
LAPLACE TRANSFORM OF DERIVATIVES
For example:
𝑑𝑥 𝑡
ℒ = 𝑠ℒ 𝑥 − 𝑥 0
𝑑𝑡
𝑑2 𝑥 𝑡 2 ℒ 𝑥 − 𝑠𝑥 0 − 𝑥 ′ 0
ℒ = 𝑠
𝑑𝑡 2
In general
𝑑𝑛 𝑥 𝑡 𝑛 ℒ 𝑥 − 𝑠 𝑛−1 𝑥 0 − ⋯ − 𝑥 (𝑛−1) 0
ℒ = 𝑠
𝑑𝑡 𝑛
where x(0) is the initial condition of the system
TRANSFER FUNCTION OF D.E.
Find the transfer function represented by
𝑑𝑐 𝑡
+ 2c t = r t
dt
Laplace transform of the both sides, assuming zero initial
condition
𝑠𝐶 𝑠 + 2𝐶 𝑠 = 𝑅 𝑠
𝐶 𝑠 𝑠+2 =𝑅 𝑠
The transfer function G(s), is
𝐶 𝑠 1
𝐺 𝑠 = =
𝑅 𝑠 𝑠+2
TRANSFER FUNCTION OF D.E.
Find the transfer function represented by
𝑑3 𝑐 3𝑑 2 𝑐 7𝑑𝑐 𝑑2 𝑟 4𝑑𝑟
3
+ 2
+ + 5𝑐 = 2 + + 3𝑟
𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡 𝑑𝑡

Laplace transform of the both sides, assuming zero initial

condition
𝑠 3 𝐶 𝑠 + 𝑠 2 𝐶 𝑠 + 7𝑠𝐶 𝑠 + 5𝐶 𝑠 = 𝑠 2 𝑅 𝑠 + 4𝑠𝑅 𝑠 + 3𝑅(𝑠)
𝐶 𝑠 𝑠 3 + 𝑠 2 + 7𝑠 + 5 = 𝑅 𝑠 𝑠 2 + 4𝑠 + 3
𝑠 2 + 4𝑠 + 3
𝐺 𝑠 = 3
𝑠 + 𝑠 2 + 7𝑠 + 5
TRANSFER FUNCTION OF D.E.
Find the differential equation corresponding to the transfer
function
2𝑠 + 1
𝐺 𝑠 = 2
𝑠 + 6𝑠 + 2
Inverse Laplace Transform of both sides:
𝑠 2 𝐶 𝑠 + 6𝑠𝐶 𝑠 + 2𝐶 𝑠 = 2𝑠𝑅 𝑠 + 𝑅 𝑠
𝑑 2 𝑐 6𝑑𝑐 2𝑑𝑟
2
+ + 2𝑐 = +𝑟
𝑑𝑡 𝑑𝑡 𝑑𝑡
TRANSFER FUNCTION OF D.E.
Find the step response for a system 1=𝐴 𝑠+2 +𝐵 𝑠
whose transfer function: 1 = 𝑠 𝐴 + 𝐵 + 2𝐴
1 𝐴 + 𝐵 = 0, 𝑡ℎ𝑢𝑠 𝐴 = −𝐵
𝐺 𝑠 = 1 1
𝑠(𝑠 + 2)
2𝐴 = 1, 𝑡ℎ𝑢𝑠 𝐴 = 𝑎𝑛𝑑 𝐵 = −
2 2
Partial Fraction Expansion Inverse Laplace
𝐶 𝑠 = 𝑅 𝑠 𝐺 𝑠 𝑤ℎ𝑒𝑟𝑒 𝑅 𝑠 1/2 1/2
𝐶 𝑠 = +
1 𝑠 𝑠+2
= 𝑢𝑛𝑖𝑡 𝑠𝑡𝑒𝑝
𝑠
1 1 𝟏 𝟏 −𝟐𝒕
𝐶 𝑠 = 𝒄 𝒕 = − 𝒆
𝑠 𝑠+2 𝟐 𝟐
Note:
1 𝐴 𝐵 1
= + Step Response: 𝑅 𝑠 =
𝑠 𝑠+2 𝑠 𝑠+2 𝑠
Impulse Response: 𝑅(𝑠) = 1
1
Ramp Response: 𝑅(𝑠) = 2
𝑠
TRANSFER FUNCTION OF D.E.
Find the ramp response for a system whose 1 = 𝐴 𝑠 + 4 𝑠 + 8 + 𝐵 𝑠 𝑠 + 8 + 𝐶(𝑠)(𝑠 + 4)
transfer function: 1 = 𝑠 2 𝐴 + 𝐵 + 𝐶 + 𝑠 12𝐴 + 8𝐵 + 4𝐶 + 32𝐴
𝑠 𝐴+𝐵+𝐶 =0
𝐺 𝑠 = 12𝐴 + 8𝐵 + 4𝐶 = 0
𝑠+4 𝑠+8
1 1 1
32𝐴 = 1, 𝑡ℎ𝑢𝑠 𝐴 = ,B = − ,C =
32 16 32
Partial Fraction Expansion Inverse Laplace:
1 1 1 1 1 1
𝐶 𝑠 = 𝑅 𝑠 𝐺 𝑠 𝑤ℎ𝑒𝑟𝑒 𝑅 𝑠 = 𝑢𝑛𝑖𝑡 𝑟𝑎𝑚𝑝 𝐶 𝑠 = 𝑠− +
𝑠2 32 16 𝑠 + 4 32 𝑠 + 8
1 𝑠
𝐶 𝑠 =
𝑠2
𝑠+4 𝑠+8 1 1 1
1 𝑐 𝑡 = − 𝑒 −4𝑡 + 𝑒 −8𝑡
32 16 32
𝐶 𝑠 =
𝑠 𝑠+4 𝑠+8
1 𝐴 𝐵 𝐶
= + +
𝑠 𝑠+4 𝑠+8 𝑠 𝑠+4 𝑠+8
ELECTRICAL NETWORK TRANSFER FUNCTION
Component Voltage-Current Current-Voltage Voltage-Charge Impedance Admittance
𝒁(𝒔) 𝒀(𝒔)
Capacitor 1 𝑑𝑣 𝑡 1 1 𝐶𝑠
𝑣𝐶 𝑡 = න 𝑖 𝜏 𝑑𝜏 𝑖𝐶 (𝑡) = 𝐶 𝑣𝐶 𝑡 = 𝑞(𝑡)
𝑐 𝑑𝑡 𝐶 𝐶𝑠
Resistor 𝑣𝑅 𝑡 = 𝑅𝑖(𝑡) 1 𝑑𝑞 𝑡 𝑅 1
𝑖𝑅 𝑡 = 𝑣(𝑡) 𝑣𝑅 𝑡 = 𝑅 =𝐺
𝑅 𝑑𝑡 𝑅
Inductor 𝑑𝑖 𝑡 1 𝑑2𝑞 𝑡 𝐿𝑠 1
𝑣𝐿 𝑡 = 𝐿 𝑖𝐿 𝑡 = න 𝑣 𝜏 𝑑𝜏 𝑣𝐿 𝑡 = 𝐿
𝑑𝑡 𝐿 𝑑𝑡 2 𝐿𝑠
ELECTRICAL NETWORK TRANSFER FUNCTION
Simple Circuit via Differential Equation From the voltage-charge relationship for a capacitor
𝑞 𝑡 = 𝐶𝑣𝑐 (𝑡)
Find the transfer function relating the capacitor Substituting into the equation yields
voltage, 𝑉𝐶 (𝑠), to the input voltage, 𝑉 𝑠 in the figure 𝑑 2 𝑣𝑐 𝑡 𝑑𝑣𝑐 (𝑡)
below. 𝐿𝐶 + 𝑅𝐶 + 𝑣𝑐 𝑡 = 𝑣(𝑡)
𝑑𝑡 𝑑𝑡

Laplace transform
2
𝐿𝐶𝑠 𝑉𝐶 𝑠 + 𝑅𝐶𝑠𝑉𝐶 𝑠 + 𝑉𝐶 𝑠 = 𝑉(𝑠)
𝑉𝐶 𝑠 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1 = 𝑉 𝑠
𝑉𝐶 𝑠 1
𝑑𝑖 𝑡 1 =
𝐿 + 𝑅𝑖 𝑡 + න 𝑖 𝜏 𝑑𝜏 = 𝑣(𝑡) 𝑉 𝑠 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1
𝑑𝑡 𝐶 1
𝑉𝐶 𝑠 𝐿𝐶
Changing variables from current to charge using =
𝑉 𝑠 𝑅 1
𝑑𝑞 𝑡 𝑠2 + 𝑠 +
𝑖 𝑡 = 𝐿 𝐿𝐶
𝑑𝑡

𝑑2𝑞 𝑡 𝑑𝑞 𝑡 1
𝐿 +𝑅 + 𝑞 𝑡 =𝑣 𝑡
𝑑𝑡 𝑑𝑡 𝐶
ELECTRICAL NETWORK TRANSFER FUNCTION
Component Voltage-Current Current-Voltage Voltage-Charge Impedance Admittance
𝒁(𝒔) 𝒀(𝒔)
Capacitor 1 𝑑𝑣 𝑡 1 1 𝐶𝑠
𝑣𝐶 𝑡 = න 𝑖 𝜏 𝑑𝜏 𝑖𝐶 (𝑡) = 𝐶 𝑣𝐶 𝑡 = 𝑞(𝑡)
𝑐 𝑑𝑡 𝐶 𝐶𝑠
Resistor 𝑣𝑅 𝑡 = 𝑅𝑖(𝑡) 1 𝑑𝑞 𝑡 𝑅 1
𝑖𝑅 𝑡 = 𝑣(𝑡) 𝑣𝑅 𝑡 = 𝑅 =𝐺
𝑅 𝑑𝑡 𝑅
Inductor 𝑑𝑖 𝑡 1 𝑑2𝑞 𝑡 𝐿𝑠 1
𝑣𝐿 𝑡 = 𝐿 𝑖𝐿 𝑡 = න 𝑣 𝜏 𝑑𝜏 𝑣𝐿 𝑡 = 𝐿
𝑑𝑡 𝐿 𝑑𝑡 2 𝐿𝑠

Laplace Transform to Simplified time domain

1
𝑉𝐶 𝑠 = 𝐼 𝑠
𝐶𝑠
𝑉𝑅 𝑠 = 𝑅𝐼 𝑠
𝑉𝐿 𝑠 = 𝐿𝑠𝐼 𝑠
Transfer Function:
𝑉 𝑠
𝑍 𝑠 =
𝐼 𝑠
ELECTRICAL NETWORK TRANSFER FUNCTION
Simple Circuit via Laplace Transform Methods The voltage across the capacitor 𝑉𝐶 (𝑠) is the
product of the current and the impedance of the
Find the transfer function relating the capacitor capacitor
voltage, 𝑉𝐶 (𝑠), to the input voltage, 𝑉 𝑠 in the figure 1
𝑉𝐶 𝑠 = 𝐼 𝑠
below. 𝐶𝑠
𝑉 𝑠 1
𝑉𝐶 𝑠 =
1 𝐶𝑠
𝐿𝑠 + 𝑅 +
𝐶𝑠
𝑉𝐶 𝑠 1
=
𝑉 𝑠 𝐿𝐶𝑠 2 + 𝑅𝐶𝑠 + 1
Using simplified solution 1
𝑉𝐶 𝑠 𝐿𝐶
1 =
𝐿𝑠𝐼 𝑠 + 𝑅𝐼 𝑠 + 𝐼 𝑠 = 𝑉 𝑠 𝑉 𝑠 𝑅 1
𝐶𝑠 𝑠2 + 𝑠 +
𝐿 𝐿𝐶
1
𝐿𝑠 + 𝑅 + 𝐼 𝑠 =𝑉 𝑠
𝐶𝑠
𝐼 𝑠 1
=
𝑉 𝑠 1
𝐿𝑠 + 𝑅 +
𝐶𝑠
ELECTRICAL NETWORK TRANSFER FUNCTION
Complex Circuits – Multiple Loops 𝑅1 + 𝐿𝑠 𝑉 𝑠
𝐼2 𝑠 −𝐿𝑠 0
𝐼2 = =
Mesh 1: 𝑉 𝑠 𝑅1 + 𝐿𝑠 −𝐿𝑠
𝑅1 𝐼1 𝑠 + 𝐿𝑠𝐼1 𝑠 − 𝐿𝑠𝐼2 𝑠 = 𝑉 𝑠 1
−𝐿𝑠 𝐿𝑠 + 𝑅2 +
Mesh 2: 𝐶𝑠
1 𝐼2 𝑠 𝐿𝐶𝑠 2
𝐿𝑠𝐼2 𝑠 + 𝑅2 𝐼2 𝑠 + 𝐼 𝑠 − 𝐿𝑠𝐼1 𝑠 = 0 =
𝐶𝑠 2 𝑉 𝑠 𝑅1 + 𝑅2 𝐿𝐶𝑠 2 + 𝑅1 𝑅2 𝐶 + 𝐿 𝑠 + 𝑅1

Combining terms
𝑅1 + 𝐿𝑠 𝐼1 𝑠 − 𝐿𝑠𝐼2 𝑠 = 𝑉 𝑠
1
−𝐿𝑠 𝐼1 𝑠 + 𝐿𝑠 + 𝑅2 + 𝐼 𝑠 =0
𝐶𝑠 2

Cramer’s Rule:
𝐴𝑥 𝐴𝑦
𝑥= or 𝑦 = determinants
𝐴 𝐴
𝑐 𝑏1 𝑎1 𝑐1
𝐴𝑥 = 1 𝑜𝑟 𝐴𝑦 = 𝑎 𝑐
𝑐2 𝑏2 2 2
ELECTRICAL NETWORK TRANSFER FUNCTION
Complex Circuits – Multiple Loops Mesh 1:
𝑅1 𝐼1 𝑠 + 𝐿𝑠𝐼1 𝑠 − 𝐿𝑠𝐼2 𝑠 = 𝑉 𝑠
Given the network of figure below, find the transfer Mesh 2:
function 𝐼2 (𝑠)/𝑉 𝑠 1
𝐿𝑠𝐼2 𝑠 + 𝑅2 𝐼2 𝑠 + 𝐼 𝑠 − 𝐿𝑠𝐼1 𝑠 = 0
𝐶𝑠 2

Combining terms
𝑅1 + 𝐿𝑠 𝐼1 𝑠 − 𝐿𝑠𝐼2 𝑠 = 𝑉 𝑠
1
−𝐿𝑠 𝐼1 𝑠 + 𝐿𝑠 + 𝑅2 + 𝐼 𝑠 =0
𝐶𝑠 2

Cramer’s Rule:
𝐴𝑥 𝐴𝑦
𝑥= or 𝑦 = determinants
𝐴 𝐴
𝑐 𝑏1 𝑎1 𝑐1
𝐴𝑥 = 1 𝑜𝑟 𝐴𝑦 = 𝑎 𝑐
𝑐2 𝑏2 2 2