Titolo

Mechanical presentazione& Control

Instrumentation
sottotitolo
MECH-364
Milano, XX mese
Lecture # 2 20XX

Dr. Babar Ali

 Transfer Function

• To develop mathematical models from schematics of physical

systems. We will discuss two methods:
– transfer functions in the frequency domain and
– state equations in the time domain.

• A differential equation can describe the relationship between the

input and output of a system.
• The form of the differential equation and its coefficients are a
formulation or description of the system.
• Although the differential equation relates the system to its input and
output, it is not a satisfying representation from a system perspective.

Mechanical Instrumentation & Control Dr. Babar Ali

 Transfer Function

Mechanical Instrumentation & Control Dr. Babar Ali

 Transfer Function

• we would like to represent cascaded interconnection where a

mathematical function, called a transfer function, is inside each
block
• block functions can easily be combined to yield for ease of analysis
and design.
• This convenience cannot be obtained with the differential equation.

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

• A system represented by a differential equation is difficult to model

as a block diagram.
• Thus, we now lay the groundwork for the Laplace transform, with
which we can represent the input, output, and system as separate
entities.
• Further, their interrelationship will be simply algebraic.

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

• The Laplace transform is defined as

• where s = a + jω, a complex variable

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

• The inverse Laplace transform, which allows us to find f(t) given

F(s), is

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

Mechanical Instrumentation & Control Dr. Babar Ali

 Laplace Transform Review

Mechanical Instrumentation & Control Dr. Babar Ali

 Partial-Fraction Expansion

• To find the inverse Laplace transform of a complicated function, we

can convert the function to a sum of simpler terms for which we
know the Laplace transform of each term.
• The result is called a partial-fraction expansion.

• If F(s) = N(s)/D(s), where the order of N(s) is less than the order of
D(s), then a partial-fraction expansion can be made.
• If the order of N(s) is greater than or equal to the order of D(s), then
N(s) must be divided by D(s) successively until the result has a
remainder whose numerator is of order less than its denominator.

Mechanical Instrumentation & Control Dr. Babar Ali

 Partial-Fraction Expansion

Mechanical Instrumentation & Control Dr. Babar Ali

 Partial-Fraction Expansion

Mechanical Instrumentation & Control Dr. Babar Ali

 Partial-Fraction Expansion

Mechanical Instrumentation & Control Dr. Babar Ali

 Partial-Fraction Expansion

Mechanical Instrumentation & Control Dr. Babar Ali

 Transfer Function

• Let us begin by writing a general nth-order, linear, time-invariant

differential equation,

• Taking the Laplace transform of both sides

Mechanical Instrumentation & Control Dr. Babar Ali

 Transfer Function

• If we assume that all initial conditions are zero, Eq. (2.51) reduces to

Mechanical Instrumentation & Control Dr. Babar Ali

 Transfer Function

Mechanical Instrumentation & Control Dr. Babar Ali

 Transfer Function

When order of the denominator polynomial is greater than

the numerator polynomial the transfer function is said to be
‘proper’.

Otherwise ‘improper’

Mechanical Instrumentation & Control Dr. Babar

20 Ali
 Transfer Function

Transfer function helps us to check

– The stability of the system

– Time domain and frequency domain characteristics of the

system

– Response of the system for any given input

Mechanical Instrumentation & Control Dr. Babar

21 Ali
 Stability of Control System

There are several meanings of stability, in general there

are two kinds of stability definitions in control system
study.

– Absolute Stability

– Relative Stability

Mechanical Instrumentation & Control Dr. Babar

22 Ali
 Stability of Control System

Roots of denominator polynomial of a transfer function are called

‘poles’.

And the roots of numerator polynomials of a transfer function are

called ‘zeros’.

Mechanical Instrumentation & Control Dr. Babar

23 Ali
 Stability of Control System

Poles of the system are represented by ‘x’ and zeros of the system are
represented by ‘o’.
System order is always equal to number of poles of the transfer
function.
Following transfer function represents nth order plant.

Mechanical Instrumentation & Control Dr. Babar

24 Ali
 Stability of Control System

Poles is also defined as “it is the frequency at which

system becomes infinite”. Hence the name pole where
field is infinite.

And zero is the frequency at which system becomes 0.

Mechanical Instrumentation & Control Dr. Babar

25 Ali
 Stability of Control System

Poles is also defined as “it is the frequency at which

system becomes infinite”.
Like a magnetic pole or black hole.

Mechanical Instrumentation & Control Dr. Babar

26 Ali
 Relation b/w poles and zeros and
frequency response of the system
The relationship between poles and zeros and the frequency response
of a system comes alive with this 3D pole-zero plot.

Single pole system

Mechanical Instrumentation & Control Dr. Babar

27 Ali
 Relation b/w poles and zeros and
frequency response of the system

3D pole-zero plot
– System has 1 ‘zero’ and 2 ‘poles’.

Mechanical Instrumentation & Control Dr. Babar

28 Ali
 Relation b/w poles and zeros and
frequency response of the system

Mechanical Instrumentation & Control Dr. Babar

29 Ali
 Example

Consider the Transfer function calculated in previous

slides.
X (s) C
G( s ) = =
Y ( s ) As + B

the denominator polynomial is As + B = 0

The only pole of the system is

B
s=−
A
Mechanical Instrumentation & Control Dr. Babar
30 Ali
 Examples

Consider the following transfer functions.

– Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order of the system
s+3 s
i) G( s ) = ii) G( s ) =
s( s + 2 ) ( s + 1)( s + 2 )( s + 3)

( s + 3) 2 s 2 ( s + 1)
iii) G( s ) = iv) G( s ) =
s( s 2 + 10) s( s + 10)
Mechanical Instrumentation & Control Dr. Babar
31 Ali
 Stability of Control Systems

The poles and zeros of the system are plotted in s-plane to

check the stability of the system.

j

LHP RHP

Recall s =  + j


s-plane

Mechanical Instrumentation & Control Dr. Babar

32 Ali
 Stability of Control Systems

If all the poles of the system lie in left half plane the system
is said to be Stable.
If any of the poles lie in right half plane the system is said to
be unstable.
If pole(s) lie on imaginary axis the system is said to be
marginally stable. j

LHP RHP

s-plane

Mechanical Instrumentation & Control Dr. Babar

33 Ali
 Stability of Control Systems

For example
C
G( s ) = , if A = 1, B = 3 and C = 10
As + B
Then the only pole of the system lie at j

pole = −3
LHP RHP

X 
-3

s-plane

Mechanical Instrumentation & Control Dr. Babar

34 Ali
 Examples

Consider the following transfer functions.

▪ Determine whether the transfer function is proper or improper
▪ Calculate the Poles and zeros of the system
▪ Determine the order of the system
▪ Draw the pole-zero map
▪ Determine the Stability of the system

s+3 s
i) G( s ) = ii) G( s ) =
s( s + 2 ) ( s + 1)( s + 2 )( s + 3)

( s + 3) 2 s 2 ( s + 1)
iii) G( s ) = iv) G( s ) =
s( s 2 + 10) s( s + 10)
Mechanical Instrumentation & Control Dr. Babar
35 Ali
 Another definition of Stability

The system is said to be stable if for any bounded

input the output of the system is also bounded
(BIBO).
Thus the for any bounded input the output either
remain constant or decrease with time.
u(t) overshoot
y(t)
1

Plant 1
t
t
Unit Step Input
Output
36
Mechanical Instrumentation & Control Dr. Babar Ali
 Another definition of Stability

If for any bounded input the output is not bounded the system is said to
be unstable.

u(t)
y(t)
1
e at
Plant
t
t
Unit Step Input
Output

Mechanical Instrumentation & Control Dr. Babar

37 Ali
 BIBO vs Transfer Function

For example
Y ( s) 1 Y (s) 1
G1 ( s ) = = G2 ( s ) = =
U ( s) s + 3 U (s) s − 3
Pole-Zero Map
Pole-Zero Map 4
4
3
3
2
2 unstable
stable 1

Imaginary Axis
1
Imaginary Axis

0
0
-1
-1

-2
-2

-3 -3

-4 -4
-4 -2 0 2 4 -4 -2 0 2 4
Real Axis Real Axis

Mechanical Instrumentation & Control Dr. Babar Ali