Control Systems (CS)

Lecture-3,4
Transfer Function and
Modeling (Electrical)

Dr. Saim Ahmed

1
 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

2
 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
3
 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

pole  3
j

LHP RHP

X 
-3

s-plane
4
 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
 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)
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 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
6
 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

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 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 unstable
3
stable 3

2 2

1 1
Imaginary Axis

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
 BIBO vs Transfer Function
• For example
Y ( s) 1 Y (s) 1
G1 ( s )   G2 ( s)  
U (s) s  3 U ( s) s  3

1 Y ( s)
1 1 1 Y ( s) 1
 G1 ( s )    1
 G2 ( s )   1
1
U ( s) s3 U (s) s 3
 y (t )  e 3t u (t )  y (t )  e 3t u (t )
 BIBO vs Transfer Function
• For example
3t
y (t )  e u (t ) y (t )  e3t u (t )
12
exp(-3t)*u(t) x 10 exp(3t)*u(t)
1 12

10
0.8

8
0.6
6
0.4
4

0.2
2

0 0
0 1 2 3 4 0 2 4 6 8 10
 Modeling (Electrical)

V-I and I-V relations

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 Transfer Function—Single Loop
• Find the transfer function relating the capacitor voltage, VC(s), to
the input voltage, V(s) in Figure
Example: Find the transfer function relating the current, I (s), to the
input voltage, V(s) in Figure

I (s) 1

V ( s ) Ls  R  1
Cs
 Transfer Function-Multiple Loops
using Mesh Analysis
Given the network of Figure, find the transfer function, I2(s)/ V(s) .

1
LsI 2 ( s )  RI 2 ( s )  I 2 ( s )  LsI1 ( s )  0
Cs
 Transfer Function-Multiple Loops
using Nodal Analysis
Given the network of Figure, find the transfer function, Vc(s)/ V(s).

Vc ( s ) Ls

V ( s ) ( R1  R2 ) LCs 2  ( R1R2C  L) s  R1
Example: Given the network of Figure, find the transfer function, I3(s)/ V(s).
Operational Amplifier
Inverting
Operational Amplifier
Operational Amplifier
Non-Inverting
v1
v1

100kΩ

10kΩ