Transfer Functions

• Convenient representation of a linear, dynamic model.

• A transfer function (TF) relates one input and one output:

u (t ) y (t )
Chapter 4

 system 
U ( s) Y (s)

The following terminology is used:

u y
input output
forcing function response
“cause” “effect”
 Definition of the transfer function:
Let G(s) denote the transfer function between an input, x, and an
output, y. Then, by definition
Y ( s)
G( s) 
U ( s)
Chapter 4

where:

Y ( s )  L y (t ) 
U ( s )  L u (t ) 

Development of Transfer Functions

Example: Stirred Tank Heating System
Chapter 4

Figure 2.3 Stirred-tank heating process with constant holdup, V.

 Recall the previous dynamic model, assuming constant liquid
holdup and flow rates:
dT
V C  wC Ti  T   Q (2-36)
dt
Suppose the process is at steady state:
Chapter 4

0  wC Ti  T   Q (2)

Subtract (2) from (2-36):

dT
V C  wC Ti  Ti   T  T   Q  Q  (3)
dt
 But,

dT 
V C  wC Ti  T    Q (4)
dt

where the “deviation variables” are

Chapter 4

T   T  T , Ti  Ti  Ti , Q  Q  Q

Take L of (4):
V  C  sT   s   T   0   wC Ti s   T   s   Q  s  (5)

At the initial steady state, T′(0) = 0.

 Rearrange (5) to solve for

 K   1 
T s     Q  s     Ti s  (6)
  s 1   s 1
where
Chapter 4

1 V
K and  
wC w
 T (s)=G1(s)Q(s)  G2(s)Ti(s)


G1 and G2 are transfer functions and independent of the

inputs, Q′ and Ti′.
Note G1 (process) has gain K and time constant 
Chapter 4

G2 (disturbance) has gain=1 and time constant 

gain = G(s=0). Both are first order processes.
If there is no change in inlet temperature (Ti′= 0),
then Ti′(s) = 0.
System can be forced by a change in either Ti or Q
(see Example 4.3).
 Conclusions about TFs
1. Note that (6) shows that the effects of changes in both Q
and Ti are additive. This always occurs for linear, dynamic
models (like TFs) because the Principle of Superposition is
Chapter 4

valid.
2. The TF model enables us to determine the output response to
any change in an input.
3. Use deviation variables to eliminate initial conditions for TF
models.
 Example: Stirred Tank Heater
K  0.05   2.0
0.05 No change in Ti′
T  Q
2s  1
Step change in Q(t): 1500 cal/sec to 2000 cal/sec
Chapter 4

500

Q 
s
0.05 500 25
T  
2s  1 s s (2s  1)
What is T′(t)? From line 13, Table 3.1
 t / 25
T (t )  25[1  e ] 
 T (s) 
s ( s  1)
 t / 2
T (t )  25[1  e ]
 Properties of Transfer Function Models

1. Steady-State Gain
The steady-state of a TF can be used to calculate the steady-
state change in an output due to a steady-state change in the
Chapter 4

input. For example, suppose we know two steady states for an

input, u, and an output, y. Then we can calculate the steady-
state gain, K, from:

y2  y1
K (4-38)
u2  u1

For a linear system, K is a constant. But for a nonlinear

system, K will depend on the operating condition u , y .
 Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:

K  lim G  s  (14)
s 0
Chapter 4

• This important result is a consequence of the Final Value

Theorem

• Note: Some TF models do not have a steady-state gain (e.g.,

integrating process in Ch. 5)
 2. Order of a TF Model
Consider a general n-th order, linear ODE:
dny dy n1 dy d mu
an n
 an 1   a1  a0 y  bm m 
dt dt n 1 dt dt
d m1u du
Chapter 4

bm1 m1
   b1  b0u (4-39)
dt dt

Take L, assuming the initial conditions are all zero. Rearranging

gives the TF:
m

Y s 
i
b s i

G s   i 0
(4-40)
U s  n
i
a s i

i 0
 Definition:
The order of the TF is defined to be the order of the denominator
polynomial.
Note: The order of the TF is equal to the order of the ODE.
Chapter 4

Physical Realizability:
For any physical system, n  m in (4-38). Otherwise, the system
response to a step input will be an impulse. This can’t happen.
Example:

du
a0 y  b1  b0u and step change in u (4-41)
dt
 2nd order process
General 2nd order ODE:
d2y dy
a 2 + b  y = Ku
dt dt

as 
Chapter 4

2
Laplace Transform:  bs + 1  Y ( s)  KU ( s )

Y ( s) K
G(s)   2
U ( s ) as  bs  1
 b  b 2  4a
2 roots s1, 2 
2a
2
b
1 : real roots
4a
b2
1 : imaginary roots
4a
 Examples
1. 2 b 2 16
  1.333  1
3s 2  4 s  1 4a 12

3s 2  4 s  1  (3s  1)( s  1)  3( s  1 )( s  1)
3
t
transforms to e 3
, e t (real roots )
Chapter 4

(no oscillation)
2. 2 b2 1
 1
s2  s  1 4a 4

3 3
s 2  s  1  ( s  0.5  j )( s  0.5  j)
2 2
0.5t 3 0.5t 3
transforms to e cos t, e sin t
2 2
(oscillation)
 From Table 3.1, line 17

- bt L 
e sin  t 
( s  b) 2   2
2 2
2
= 2
s  s 1 2  3
Chapter 4

(s + 0.5)   
 2 
 Two IMPORTANT properties (L.T.)

A. Multiplicative Rule
Chapter 4

B. Additive Rule
 Example 1:
Place sensor for temperature downstream from heated
tank (transport lag)

Distance L for plug flow,

L
Chapter 4

Dead time 
V
V = fluid velocity

T(s) K1
Tank: G1 = =
U(s) 1+ 1s
Ts (s) K 2 e - s
Sensor: G 2 = = K 2  1,  2 is very small
T(s) 1 +  2s
(neglect)
Overall transfer function:
Ts Ts T K 1 K 2 e  s
   G 2  G1 
U T U 1  1s
 Linearization of Nonlinear Models
• Required to derive transfer function.
• Good approximation near a given operating point.
• Gain, time constants may change with
• operating point.
Chapter 4

• Use 1st order Taylor series.

dy
 f ( y, u ) (4-60)
dt
f f
f ( y, u )  f ( y, u )  ( y  y)  (u  u ) (4-61)
y y ,u
u y ,u

Subtract steady-state equation from dynamic equation

dy  f f
 y  u (4-62)
dt y s u s
 Example 3:
q0: control,
qi: disturbance

dh
A  qi  q0 qi  q0 at s.s.
dt
Chapter 4

dh
Use L.T. A  qi  q0
dt
AsH ( s )  qi ( s )  q0 ( s ) (deviation variables)

suppose q0 is constant

 H(s) 1 pure integrator (ramp) for


AsH ( s )  qi ( s ), 
q  ( s) As step change in qi
i
 If q0 is manipulated by a flow control valve,

q0  C v h
nonlinear element
Chapter 4

Figure 2.5

Linear model

R: line and valve resistance

linear ODE : eq. (4-74)

 if q0  CV h
dh
A  qi  Cv h
dt
Perform Taylor series of right hand side
Chapter 4

dh 1
A  qi  h

dt R

0.5
R  2h / Cv
Chapter 4
Chapter 4
Chapter 4
Chapter 4

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