Linear Multivariable Control (SCE-507)

Unit-2
(Model of Physical Systems 1)
Transfer Function
Dr. Nezar Alyazidi
 Contents (Unit-1):
1) Transfer Function

2) Electrical Network Transfer Function

✓ RLC Circuits (1, 2, 3 Loops)
✓ Operational Amplifiers

3) Mechanical System Transfer Function

✓ Translational System
✓ Rotational System
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Transfer Function
 Transfer Function:
➢ A system represented by a differential equation is difficult to model as a block diagram.

➢ Transfer function is the ratio of the Laplace transform of the output variable to Laplace
transform of the input variable assuming all initial conditions to be zero.

𝑂𝑢𝑡𝑝𝑢𝑡 𝑁(𝑠)
𝐹 𝑠 = =
𝐼𝑛𝑝𝑢𝑡 𝐷(𝑠)

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• The first step in formulating the mathematical modeling of physical
systems is to use fundamental laws governing the system, like (Ohm’s
law), Interaction laws describe the way different elements are
interconnected

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Element Laws

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Interaction Laws
• Interaction laws describe the way different elements are
interconnected
• important interaction laws
– Kirchhoff’s Current Law
– Kirchhoff’s Voltage Law

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Transfer Function

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Transfer function

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Transfer Function

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Example 1

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Determine the input and the output of
your interest. Example:

Ic
Vc
Charge q

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Example 2

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Initial state response

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 Transfer Function:
➢ Separation of the input, system and output into three and distinct parts (unlike
differential equation).

➢ Algebraically combine mathematical representations of subsystems to yield total system

representation.

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Electrical Network Transfer Function
 Electrical Network Transfer Function:

𝑅 𝑅

𝐿 𝐿𝑠

1
𝐶
SCE 507-241 𝐶𝑠
 Electrical TF (1 Loop):

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 Electrical TF (1 Loop):
➢ Find the transfer function relating the capacitor voltage 𝑉𝑐 (𝑠), to the input voltage 𝑉(𝑠),
using transform methods without writing a differential equation.

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 Electrical TF (1 Loop):
➢ Find the transfer function relating the capacitor voltage 𝑉𝑐 (𝑠), to the input voltage 𝑉(𝑠),
using nodal analysis without writing a differential equation.

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 Electrical TF (1 Loop):
➢ Find the transfer function relating the capacitor voltage 𝑉𝑐 (𝑠), to the input voltage 𝑉(𝑠),
using voltage division without writing a differential equation.

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 Electrical TF (2 Loop):
𝐼2 (𝑠)
➢ Find the transfer function .
𝑉(𝑠)

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 Electrical TF (2 Loop):
𝐼2 (𝑠)
➢ Find the transfer function .
𝑉(𝑠)

For Loop 1

For Loop 2

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 Electrical TF (2 Loop):

Rearranging Equations

Cramer’s rule

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 Electrical TF (2 Loop):

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 Electrical TF (2 Loop):

Alternate Method

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 Electrical TF (3 Loop):

✓ Using Cramer’s rule, someone can find the transfer function.

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 Electrical TF (3 Loop):

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 Operational Amplifier:
➢ An operational amplifier (active circuit) has the following characteristics
✓ Differential input, 𝑣2 𝑡 − 𝑣1 (𝑡)

✓ High input impedance, 𝑍𝑖 = ∞ (ideal)

✓ Low output impedance, 𝑍𝑜 = 0 (ideal)

✓ High constant gain amplification, 𝐴 = ∞ (ideal)

❖ Inverting Operational Amplifier

❖ Non-Inverting Operational Amplifier

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 Inverting Operational Amplifier:
✓ As the input impedance to the op-amp is high thus
✓ As the gain 𝐴 of the op-amp is high thus

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 Inverting Op-amp (Example):
𝑉𝑜 (𝑠)
➢ Find the transfer function .
𝑉𝑖 (𝑠)

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 Non-Inverting Operational Amplifier:

For large 𝐴, we disregard unity in the denominator

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 Non-Inverting Op-amp (Example):
𝑉𝑜 (𝑠)
➢ Find the transfer function .
𝑉𝑖 (𝑠)

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Modeling of Mechanical System
 Translational Mechanical System
• Mechanical systems have three passive, linear
components.
➢ Two of them, the spring and the mass, are energy
storage elements; one of them, the viscous damper,
dissipates energy.

K, 𝑓𝑣, and M are called spring constants, coefficient of

viscous friction, and mass, respectively.
 Mechanical TF (Translational System):

𝐾 𝐾

𝑓𝑣 𝑓𝑣 𝑠

𝑀 𝑀𝑠 2
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 Mechanical system equation of motion
• The mechanical system requires one differential equation, called the
equation of motion, to describe it. That can be constructed by the following
steps:
1. begin by assuming a positive direction of motion, for example, to the
right.
2. Then, draw a free-body diagram, placing on the body all forces that act on
the body either in the direction of motion or opposite to it.

3. Next use Newton’s law to form a differential equation of motion by

summing the forces and setting the sum equal to zero.

4. Finally, take the Laplace transform of the differential equation, separate

the variables, and derive the transfer function.

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Single degree of freedom system

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Multi-degree of freedom system

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Example

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 Mechanical TF (Translational System):
𝑋(𝑠)
➢ Find the transfer function . Laplace Transform
𝐹(𝑠)

𝑓(𝑡) ∝ 𝑥(𝑡) 𝑓(𝑡) ∝ 𝑣(𝑡) 𝑓(𝑡) ∝ 𝑎(𝑡)

𝑓 𝑡 = 𝐾𝑥(𝑡) 𝑓 𝑡 = 𝑓𝑣 𝑣 𝑡 = 𝑓𝑣 𝑥(𝑡)
ሶ 𝑓 𝑡 = 𝑀𝑎 𝑡 = 𝑀𝑣ሶ 𝑡 = 𝑀𝑥(𝑡)
ሷ

𝐹 𝑠 = 𝐾𝑋(𝑠) 𝐹 𝑠 = 𝑓𝑣 𝑠𝑋(𝑠) 𝐹 𝑠 = 𝑀𝑠 2 𝑋(𝑠)

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 Mechanical TF (Translational System):
𝑋(𝑠)
➢ Find the transfer function . Laplace Transform
𝐹(𝑠)

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 Mechanical TF (Translational System):
𝑋2 (𝑠)
➢ Find the transfer function .
𝐹(𝑠)

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 Mechanical TF (Translational System):

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 Mechanical TF (Translational System):

Alternate Method

✓ Using Cramer’s rule, someone can find the transfer function.

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 Mechanical TF (Translational System):
𝑋2 (𝑠)
➢ Find the transfer function .
𝐹(𝑠)

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 Mechanical TF (Translational System):

✓ Using Cramer’s rule, someone can find the transfer function.

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 Mechanical TF (Translational System):
𝑋2 (𝑠)
➢ Find the transfer function .
𝐹(𝑠)

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 Mechanical TF (Translational System):

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 Mechanical TF (Rotational System):

Translational Rotational
𝐹(𝑠) 𝑇(𝑠)
𝑋(𝑠) 𝜃(𝑠)
𝐾 𝐾
𝑓𝑣 𝐷
𝑀 𝐽

𝐾 𝐾

𝐷 𝐷𝑠

𝐽 𝐽𝑠 2
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 Mechanical TF (Rotational System):
𝜃2 (𝑠)
➢ Find the transfer function .
𝑇(𝑠)

Schematic

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 Mechanical TF (Rotational System):

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 Mechanical TF (Rotational System):

Alternate Method

✓ Using Cramer’s rule, someone can find the transfer function.

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 Mechanical TF (Rotational System):
𝜃3 (𝑠)
➢ Find the transfer function .
𝑇(𝑠)

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 Mechanical TF (Rotational System):

✓ Using Cramer’s rule, someone can find the transfer function.

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 Mechanical TF (Rotational System):
𝜃2 (𝑠)
➢ Find the transfer function .
𝑇(𝑠)

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 Mechanical TF (Rotational System):

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Credits: Dr. Muhammad Majid Gulzar