COMMONLY USED TRANSFER FUNCTIONS

WHAT IS A TRANSFER FUNCTION Also, the transfer function is the ratio of the out-
put of a system to its input.
A transfer function is a mathematical expression
of the internal properties of a system. (The sys- TRANSFER FUNCTION = ;;up;T
tem could be a simple piece of hardware, such as
a resistor or capacitor; or the system would more
likely be a feedback control system). G
(p) = ii
Control systems can be easily described by a set
of differential equations. A block diagram is a
simplified device for the same purpose. The THE USE OF “s” OR “p”
physical elements appearing in block diagrams are
described by a term called the “transfer function”.
This is defined as the elements’ ratio of output to The term “p” is formally known as the Iaplace
input in the “s” or “p” plane. transform operator. It can be more easily
remembered as the “property” of an element in
A graphic illustration of a transfer function [G(p)] a transfer function. -
is shown in figure 1.

The ratio of the transformed output C to the input The terms “p” and “s” can, and are, used inter-
R is the “transfer function.” The transfer function changeably in these pages of commonly used trans-
G(p) is the mathematical expression of the prop- fer functions.
erties of the elements inside the system.

Stated in its simplest terms, the output of a sys-

tem is equivalent to its input times its transfer The term “s” is normally an expression of angular
function. frequency in radians per second. s = jw is used
when the operator contains a time constant.
OUTPUT = TRANSFER FUNCTION X INPUT
Pages 2 through 8 of these pages use the term “s”.
C = G(p) R Pages 9 through 13 use the term “p”.

R C)
= (PI

Figure 1. Block diagram of a transfer function in a linear system.

@ 1972 General Electric Co.

E- 588
COMMONLY USED TRANSFER FUNCTIONS

COMMONLY USED TRANSFER FUNCTIONS

TRANSFER
IMPEDANCE NETWORK RELATIONS INVERSE RELATIONS

A & A = R R = A

A = R R = A

T = RC C = T/A
c
R R
A (1 + Ts) A = 2R

C = 4T/A

R2 = A (1 - %)

0T = R2C A = 2Rl Rl = A/2

R1
T = (R2++C
c = 4T (1 - 0)
= 2R2 A
e = 2R2+R1

R = A/2

Cl = 2T (2 - 8)

2 E-588
 COMMONLY USED TRANSFER FUNCTIONS

1 (1 +Tls) (l+T3s)
RC1l I B = Cl R1
T1 + T3 - T2
=--
B

a
E l+T2 s T2 = (Rl+R2) C2 TlT3(T1+T3-T2)
R2 = B(T3-T2’(T2-Tl’
TIT3 =RlR2ClC2
Tl< T2< T3
Cl = B
R2 T1+T3 = RlCl+R2C2.. .

Cl
B(T3-T2)(T2-Tl)
c2 00.
+ RlC2 2
(T~+T~-T~)

B = C1+C2
R1 =z 2
f clc2 2
T2 = R2 \c1+c2 (T1T2+T2T3-~1T3)
R2 = BT2(T3-T2)(T2-T+
TlT3 =RlR2ClC2
BT,2
Tf+T3=RlCl+R2C2. e .

. . 0 + RlC2 B(T3-T2) (T2-Tl)

‘2 = T1T2+T2T3-TIT3

R--cz
I Cl R2

c2
B = Cl

T2 = R2 C2

TlT3 =RlR2ClC2

Tl+T3 = R1Cl+R2C2.. .

...
R = TlT3
l-
B T2
R2 = (T3-y2-Tl)

Cl = B
2

B T22
+ R2C1 c2 =
(T3-T2) (T~-T~)

RI 1, CK-l B = Cl

T2 = R2 C2

T l T3 =RlR2ClC2
R1=
T1 T3
BT2

T1 T2 T3

a= C2
R2 Tl+T3 = R1C1+R2C2..

...
+ RlC2
R2 = m?m
Cl = B

c2 =
B (T3-T2)(T2-Tl)

T1 T3
,--- ,- 2
x 1 -v T2)
& (1 + T 1 s) (1 + T2 s) B = C2 Rl=( T - - -
B
TIT2 = RlR2ClC2
\/;
T1’ T2 R2 =
T1+T2 = RlCl+R2C2e. B
-. --
I3 L T l T2
. . . + RlC2
Cl =
(,rF .-. 2
1 - \.‘T2)
C2 = B

E-588 3
COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

(1 + TpW + T2s) B = C2
1
R1 =
Bs I Cl c2 R2 B
s vT1T2 TIT2 =RlR2CrC2
T-5
Tl+T2 = TlCl+R2C2.. . R2= -
B
Tl# T2
... BW
+R1C2
Cl =

C2 = B

clc2
B= cl+2 c2

T l = RI Cl 2 B T2
‘1 = T2-Tl
T2 = R (Cl + 2 C2)
=
B T2
c2= -
T1
t
RI R2 A=2Rl RI = A/2
A

T l = .+= 2 R2C2

T2 = RI C2 4 T1
Cl = ‘ A

!j R, c, =4R2C2 2 T2

I- c2 :A

cI 1
Bs

‘--I
+t-

’
B = C C = B

R = T/4B
1

I Bs

Gs (l+Ts3
5
T = 2RC

B = C
C

R = T/B
= 2B

a+ T = RC C = B
R B = Cl
1 R = TO-e)
gs B
T = R (Cl + C2) C1 = B
e< 1
c2
1) =
c2 c1 +c2

B=C1 +C2
R=&
T=RC2
Cl = BB
c1
8= C2 = B (1 - 8)
c1 +C2
 COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

I-
B = Cl + C2 T1 (T3-T1)
1
R1 = B (T2-Tl)
s Cl Tl = Rl Cl
*I
R = T3 (T3-T1)
2 B (T3-T2)
T l <T2 <T3 R2
T3 = R2 C2 B (T2-~l)
Cl =
T3-T1
B (T3-T2)
c2 =
T3-T1

l+Tp A = R2
i A T1
l+Tl s + TlT2 a2 Tl = 2 RI C R1 =4T2

R2C R2 = -4

T2 =2 2 T2
= C=T

1+T2s I/ A=2R R=A/2

I\
A
l+Tl s + TlT2
c2 ,,m T1 =2 RC2
R R
4 T2
Cl =A

T2 = “,“1
T1
c2 =A
=

1
1+T3 s A T32
A Rl =
1 + Tls + TlT2 sz C2 2 T32 -Tl(T3-T2!
[ 1
T = R1(R1C1+2 R2C2) A T32
T1 (Complex 1
T2 > 4 roots) 2 R1+R2 R2 = T l (T3 - T2)

T\T R1R2C1C2 4 [T~~-T~(T~-T~~]

3’ 2 T2 = RlCl+2 R2C2 cl: .
= A T3
R1 c1
T3 =2 T1 T2
‘2 = A T3

A=2Rl Rl =$
c2
T l = R2 Cl + 2 Rl C2 A T1 (T3-T2)
R2 =
T2 = Rgl+2RZ)ClC2 4 p32-~1(~3-T2’]

2c1+2Rlc2 4 [T~~-T~(T~-T~)]
Cl =
AT3 -
Continued
= T1 T2
‘2 = A T3

E-588 5
COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

(Continued) I A=2R
R=+

2 [2 T32-T1(T3-T2g
Cl =
A T3
2 Tl (T3-T2)
c2 =
A T3

T , T1 (Complex R2 = A
T2 = RlR2Cl(Cl+2 C,)
2 a- roots)
Cl =
2
[
T,T2-T3(T1-T3)
1
T3< T1 A T3

(Tl - T3)
‘2= A
A = R2 A T32
R1 = 4 T1T2-T3(T1-T3)
C1(2R1C2+R2C1)
T1 =
2 c +c2 R2 = A
1

R1 R2 c1 C2 2T1 T2
T2 = 2RlC2+R2C1 ‘I= AT3

4 TIT2 [T1T2-T3 (T1-T3ij

z 2R1C1C2 c2 =
T3 = 2 c1+c2 A T32 (T1-T3!

A = R3 A T32
R3
Rl = 2 [2TlT2-T3(T1-T3Jj

R3 = A

2 T1 T2
C=Tq-

L (1+T1s)(1+T2s) A = 2 R1+R2

Tl ' T2
T1
R2=AT-
2
z 2 T22
’ = A (T2-TIT

G E-588
 COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont'd)

B = C2
c2 TO2
R=4B(l-Q1

Cl
T=RC1 ( 1
2 c2+c1

-T-
c =2B(l-0)
1
C2 = B
6

R Cl 2 c2
F me =qq-
z

-iCfl ItCl
2 2
c1
B = 2 c1+c2 R=n&-J

a
-& Cl =$E
T=RC2
R
c =4B(1-0)
7 2c1 2 e2
e = 2 c1+c2

2
’ RI = 2 BT(i - 0)

T=R2C TO
R2 =2B

2 R1 c = 22
’ = Rl+R2 e

A = R 1 + R2 A (T2-T1)
A
[( 1
l+T2s
l+T s)(l +T s)
3 I RI R2
T1 = RI Cl
RI =
T3-T1
A (T3-T2)
T1 <T2< T3 T2 = s G1+C2) R2 = T3-T1

CL3 Cl c2
T3 = R2 C2 T1 (T3-T1)
‘1 = A (T2-~1)
T3 (T3-Tl)
‘2 = A(T3-~2j

A = R2

RI Cl
I/ T2 = RlCl
R2 R2 = A
--4c--- rI------t+ TIT3 = RlR2ClC2

Id
Cl
I/
I \
Cl
T1+T3=RlCl+R2C2+R2C1
Cl =
(T3-T2)(~2-~1)

A T2

T1 T3
(Continued) ‘2 = AT2

E-588 7
 CmRIl Cl
COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

A = Rl + R2
AT22
R1 = T1T2+T2T3-T1T3
T2 =
c2
A (T3-T2) (T2-Tl)
R2 TlT3 =RlR2ClC2 R2 = T1T2+T2T3-T1T3

Tl+T3 = R1Cl+R2C2.. .

Ri
T1 T3
... ‘1 = AT2
+ R2Cl
n

(T1T2+T2T3-TlT3f
‘2 = AT2(T3-T2)(T2-TQ

rCc-l ce=--J
A = RI R1 = A

T2 = R2 (Cl+C2) A (T3-T2’ (T2-T1)

R2 =
2
TlT3 = RlR2ClC2 (T1+T3-T2)
R2
T1+T3 = RlCl+R2C2.. .
c = T1+T3-T2
1 A
. . . + R2Cl
c2 TlT3 (T1+~3-~2)
‘2 = A (T3-~2) (T~-T~)

2
R1
A T2

T2< T1l T3
R1 = T1+T3
A=2R1+RP

5!?=
1 RI RI
T1 = RICl AT22
R2 =
I- RlR2
(Tl+T3)(T1+T3-2 T2)

Cl c2 T2= R1+Z T1 (T1+T3)

(

RaI
R2 Cl zAT--
T3 = RlC2 2
T3 (T1+T3)
‘2= A T
2

A = R1 + R2
- AT1 -
R R1 = Tl+T3
T1 = RICl

Tl< T3 92
T2 = g (2C1+C2)
AT3
R2 = T l + T3

c2 Cl T3 = R2Cl (T1+T3)
Cl
T
7 ‘l= A

8 E-588
 COMMONLY USED TRANSFER FUNCTIONS

Attenuation
Network Characteristic

oltage Divider

,ead (Negligible Loading)

TTe;wO 1 RC’

0 1 ‘IT,
e-=
1
l+T1p

,ead (Appreciable Loading)

,ead with Series Resistor

E-588 9
COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

Attenuation Gain Gain T1 T

2
Network Characteristic cd 0 w =J

Lead-Lag (Appreciable Ldg. )

Re RIRe C
1 -.
RICl
R1+Re R1+Re

Lead-Lag with Series Res.

, -------0

G I -i R2 R2+R3
RICl $+R2+R3 *RICl
I 1 R2+R3
I I

[1
‘IT, ‘IT2
e
R2 ldT1 P
_-0 =
ei Rl+R2+R3 1+T2 P

Double Lead

R3 cz Cl

ei R2 RI e.

--IT
RICl R2C2

e
O-

-lag- Lead (Negligible Loading)

Y7-LJ$o
0

!O
e
0
e-=R + R
1 1
R3
7‘

With appreciable loading -

dd R to above.
3
I

J/T, I/T2
1

-
R2
R1+R2

-
RlR2+R2R3+R1R3
(R1+R2)C: 2

R1+R3
1
RlR2+RlR3+R2R3
R2C

c2

E-588
1
 COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

Gain
Network (u-m T1 T2
I

Notch (Negligible Loading)

1
RICl R2C2

e (ltTIP) (1+T2P) Assumes

0 2K
- = 1+(Tl+T2+T12)P +TlT2P 2T 12=R1C2 G Rl+R2 xc2= 0
ei
xcl= 00
If R2>>Rl - use approx. T3 = (R1+R2) C2

e o (l+Tlp) (1+T2p)
-=
e.
l7 l+T3~) (l+T4p)

Lag- Lead (Appreciable

Loading)

(l+Tl~) (1+T2 P) >

- - -

1
(R1R2+R1R3+R2R3) C1+R2R3C2
TlT2
P2i
R2+R3 ’ + R2+R3
R1R3
R,1 +R,J 1
G1= = Assumes X C2 = (0
R1R3 1 + R2(R1+R3)
R2 + Rl+R3
RlR3
Alternate Lead- Lag
(Appreciable- Ldg. ) I - - - - - - - -

G
k i& xc;.R2R4 RICl (R2+R4) C2

I/’ I; -+-
TI T2 R1+Rp R3.%

e
0 (1 + T1 p) (1 + T2 p)
e.
1

RlR3 Assuming: XC2 = m

R1+R2 = 1 xc,=0
Gl =
RlRQ 1 + R2 (R1+R3)
R2 + -
R1+R3 RlR3
E-588 11
COMMONLY USED TRANSFER FUNCTIONS .

Attenuation
Network Characteristic (L’ 0 (i 00

Double Lag

e
-? = TlT2p2 +
r TlplxRl + T2 p
T
Rl+R2+R2+R4
e.
1 2 R4
Generator

Note: Include arm. res. & L in external circuit

PC Shunt Motor
(Constant FId. Inertia Load)

Speed in rad/sec

= 5 .* (1+Tlp)(1+T2pj

DC Shunt Motor
(Constant Fld., Fan & KT R J
Inertia Load) 2RKl c:~+K~ KT ’ 2 R K wo+KVKT
L Arm Negl.

Kl = Fan Torque Constant

1(For small changes in
Tf = Kl c2
speed around wo)
12 F-F;?,8
 COMMONLY USED TRANSFER FUNCTIONS

Commonly Used Transfer Functions (Cont’d)

Attenuation Gain Gain

Network Characteristic w 0 w = T1 =2

)C Shunt Motor
Variable Fld Inertia Load) G
0 -JR
KVKT
K +K Evaluated ai
T V
steady state
If = K conditions

where T La
a =Ra
tiplidyne Quad Axis Dir Axis
K 0

1 F1

eO K
q = (1 + Tl p)(l + T2.p)
-1
implistat I

K = Volts
AT
Transformer

I out M P
q-;--
R1iR2 M2
1 + (T1+T2)p + (TlT2 RR) p2
12

E-888 1
GENERAL@ELECTRlC