2.

7) Transfer functions
Learning Objectives

➢ At the end of this session, You will be able to;

✓ Define the term transfer function.

✓ Derive transfer function for a given process

✓Find the poles and zeros of transfer function

✓ Determine if the given process is stable or unstable based on the

process transfer function poles.
 2.7.1 What is Transfer Function ?
➢ A mathematical equation that represent the dynamic relation between
input and output variables of a process .
➢ The ratio of Laplace transform of the output variable to the Laplace
transform of the input variable, with all initial conditions set to zero.

Transfer function is used to;

✓ Determine the dynamic behavior of output variable of a process for
particular change in input variable of the process.
✓ Simplify interpretation of control system.
 2.7.2 Development of Transfer Function
❖ To derive the transfer function of a process, the following steps can
be used.
1. Develop the mathematical model for the process
2. Rearrange the model by taking output to output side, input to input
side and write the mathematical model in terms of deviation
variables.
3. Take the Laplace transform of both sides of the equation
4. Write as the ratio of the output to the input. This ratio is the transfer
function
Transfer function [G(s)]
 Cont’d….
➢ Consider the process with single input variable and single output
variable as shown in the following diagram.

Figure 1: single input single output process

➢ Let the mathematical model of this process is given by ;
……..(1)

Where f(t) is the input variable expressed in deviation form

y(t) is the output variable expressed in deviation form
 Cont’d….
Assume that the process is initially at steady state;
then ‘…….. (2)

➢ Take Laplace transform of both sides of equation (1) and substitute

the initial conditions specified in equation (2). Then rearrange as

where G(s) is Transfer function

y(s) is Laplace transform of output variable Block diagram for
f(s) is Laplace transform of input variable the given process
 Example 1: Transfer function of stirred tank heater
1) The stirred tank heater shown in the following figure is used to heat
the liquid that enters the tank at flowrate Fi(ft3/min), and a
temperature Ti ( oF) by using steam entering the tank at flowrate Fst
(ib/min) and Tst. The liquid product leaves the tank at flow rate F and
temperature T. Assume that the liquid level remains unchanged. For
this process drive the transfer function and draw/sketch its
corresponding input-output block diagram.
 Solution
Step1 : develop the mathematical model of the stirred tank heater
𝑑 𝑇 𝐹𝑖 𝑈𝐴𝑡 𝐹𝑖𝑇𝑖 𝑈𝐴𝑡(𝑇𝑠𝑡)
+T( + ) = + …..(1) from ppt of lecture 7
𝑑𝑡 𝑉 ρ𝑐𝑝𝑉 𝑉 ρ𝑐𝑝𝑉
𝐹𝑖 1 𝑈𝐴𝑡 1
Let = , =k, and +k=α substitute this into (1) we get
𝑉 τ ρ𝑐𝑝𝑉 τ
𝑑 𝑇 1
+ α T= Ti +kTst …….(2)
𝑑𝑡 τ
step2: Write equation (2) in terms of deviation variable we get
……….(3)

Where T’= T –Ts, Ti’ =Ti –Ti,s, Tst’= Tst –Tst,s

Let the process is initially at steady state, so T(0)=0 ….(4)
Step3: Take the Laplace transform of both side of equation (3)
L[ ]
 Cont’d……

= ………(5)
➢ Substitute the given initial steady state condition from equation (4)
into equation (5) we get
1
=[s T ̅(𝑠) -0] +α T ̅(𝑠) = Ti’ ̅(𝑠) +k Tst’ ̅(𝑠)
τ
1
=T ̅(𝑠) (s+α) = Ti’ ̅(𝑠) +k Tst’ ̅(𝑠)
τ

Solve for T ̅(𝑠) we get

Define the two transfer functions

then
 2.7.3 Poles and Zeros of Transfer Functions
➢ According to definition of transfer function, it is the ratio of two
polynomial functions. Which is;

Transfer function G(s) =

➢The roots of the polynomial Q(s) are called the zeros of the transfer
function or the zeros of the process. Zeros of transfer function is the
value at which the transfer function becomes equals to zero.

➢ The roots of the polynomial p(s) are called the poles of the transfer
function or the poles of the process. At the poles of the process the
transfer function becomes infinity.
 Example 3: Zeros and poles of stirred heating tank
From example 1 the transfer function model of the stirred heating tank
is given by;

With its transfer function G1(s) =

and transfer function G2(s) =
➢ From this transfer function G1(1) has no zeros and has one pole at
s=-α. The transfer function G2(s) has no zeros and has one pole at
s=-α. It is noticed that the two transfer functions have a common
pole.
 2.7.4 Qualitative Analysis of the Response of the process
➢ Suppose the transfer function G(s) of process is given by;
…….(1*)
Where p1, p2, p3, p4, p4* and p5 are the roots of P(s) (poles of the
process) which are located at various points of the complex plane of
figure below).
 Cont’d……
➢ The partial fraction expansion of the transfer function G(s) given in
equation (1*) will yield

…2*
➢ The following observations can be made for the location of the poles
1. Real distinct poles, such as p1 and p2 are located on the real axis.
During inverse laplace transform of G(s) in equation two they
give exponential terms such as 𝐶1𝑒 𝑝1𝑡 and 𝐶2𝑒 𝑝2𝑡 .
Since p1< 0, 𝐶1𝑒 𝑝1𝑡 decays exponentially to zero as t ∞. P2>0 so
𝐶2𝑒 𝑝2𝑡 grows exponentially to infinity as t ∞
➢ distinct poles on the negative real axis produce terms that decay to
zero as time approaches to infinity.
 Cont’d……
Since p1< 0, 𝐶1𝑒 𝑝1𝑡 decays exponentially to zero
as t ∞. So distinct poles on the negative real axis
produce terms that decay to zero as time
approaches to infinity.

Since p2 > 0 , 𝐶2𝑒 𝑝2𝑡 grows exponentially to

infinity as t ∞. So distinct poles on the positive
real axis produce terms that grows to infinity as
time approaches to infinity.
 Cont’d……
2. Multiple real poles, such as p3 which is repeated m times. Such
poles give rise to terms such as

➢ The terms in the brackets grows toward infinity as time approaches

infinity. The behavior of the process generally depends on the value
of pole p3.
✓ If p3>0, then 𝑒 𝑝3𝑡 grows exponentially to infinity as time
approaches to infinity.
✓ If p3<0, then 𝑒 𝑝3𝑡 decays exponentially to zero as time
approaches to infinity.
✓ If p3 =0, then 𝑒 𝑝3𝑡 equals to 1 for all times and generally the
graph for the process grows infinitely.
 Cont’d……
➢ Generally, a real multiple pole gives terms which grow to infinity if
the pole is positive or zero and decay to zero if the pole negative.
3.Complex conjugate poles such as p4 and p4*. Complex poles always
appear in conjugate pair and never alone. Let p4 = α+jβ and p4* = α-jβ
Conjugate pairs of complex roots (poles) gives terms such as 𝑒 α𝑡 sin(βt
+Φ) a periodic oscillating function. The behavior of the process depends
on the value of the real part in the term 𝑒 α𝑡 .
➢ If α>0, then 𝑒 α𝑡 grows to infinity as time approaches infinity and
𝑒 α𝑡 sin(βt +Φ) grows to infinity in an oscillating manner.

Whose amplitude grows continuously if the real

part of the complex poles is positive.
 Cont’d……
S

If α<0, then𝑒 α𝑡 decays to zero as time approaches

to infinity and 𝑒 α𝑡 sin(βt +Φ) decays to zero in
an oscillating manner with ever decreasing
amplitude.

If α=0, then𝑒 α𝑡 = 1 for all times and 𝑒 α𝑡 sin(βt

+Φ) =sin(βt +Φ) which oscillates continuously
with constant amplitude.

➢ Generally, a pair of complex conjugate poles results in oscillatory

behavior whose amplitude may grow continuously if the real part of
the complex poles is positive, decay to zero if it is negative or
remains unchanged if the real part of the poles is zero.
 Cont’d……
4. Poles at the origin: Pole p5 is located at the origin of the complex
𝐶5 𝑪𝟓
plane (that is p5 =0+ j.0). Therefore = and after inversion it
(𝑠−𝑝5) 𝒔
gives constant term C5.
Notice:
➢ If the location of the process transfer function poles is known, the
qualitative characteristics of process response can be interpreted.
➢Poles to the right of the imaginary axis gives terms which grow to
infinity with time. Such process with unbounded behavior are called
unstable. Poles located to the left of the imaginary axis gives terms
which decays to zero as time approaches to infinity and such process
with bounded behavior is called stable.
 Stability of process
➢ A process is said to be stable if for all bounded input it produce
bounded output response otherwise it is unstable.

➢ Bounded means an upper or lower finite values of input or output.

Stable process Unstable process

➢ The first criteria for checking stability of a system is the location of
the pole of a transfer function. Determine if the pole is positive or
negative

➢ A system which has poles/roots located to the left hand (negative

poles) of imaginary axis is stable system.
➢ While a system which has poles/roots located at origin or to the
right hand (zero or positive real poles) is unstable system.
➢ If the transfer function of a dynamic system has even one pole with
zero or positive real part, the system is unstable.
➢ So, for stable system all poles of a transfer function must be negative
real part (that is it must be located on the left hand part of imaginary
axis).
 Group discussion
1) For the liquid storage system shown in the following figure drive the
transfer function and sketch the corresponding block diagram.
a) If the effluent flow rate Fo is directly proportional to the hydrostatic
liquid pressure that causes the flow of liquid.
b) If the effluent flow rate F0 is determined by a constant-displacement
pump and not depend on the hydrostatic pressure of the liquid level
h.
2) The poles and zeros of the process which have the transfer function;
𝑠+1
G(s) = are and respectively.
𝑠(𝑠+2)(𝑠+3)

3) The poles and zeros of the process which have the transfer function
𝑠(𝑠−1)
G(s) = are and respectively.
𝑠 2 +5𝑠+6
𝑌 1
4) The transfer function of a process is given by = the roots of
𝑋 𝑆 2 +5𝑆+6
the characteristics equation are located to ;
A. To the left of the imaginary axis and on the real axis
B. on the imaginary axis
C. To the right of imaginary axis and on the real axis
D. on the origin
5) Which of the process having the following transfer function is stable?
1 1 𝑠−1 𝑠+1
A. B. C. D.
𝑠 2 +2 𝑠 2 −2𝑠+3 𝑠 2 +2𝑠+2 𝑠 2 +2𝑠−1

6) The closed loop pole of a stable system could be;

A. Real and negative B. One real negative and the other real positive
C. Real and positive D. Complex conjugate with positive real part
7) A stable system is one
A. Which exhibits an unbounded response for a bounded input
B. For which the output response is bounded for all bounded inputs
C. Which has positive real poles located to the right of imaginary axis
D. Which has zero poles located at the origin of imaginary axis