Transfer Functions

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• Convenient representation of a linear, dynamic model.
• A transfer function (TF) relates one input and one output:

x t  y t 
 system 
X s  Y s 

The following terminology is used:

x y
input output
forcing function response
“cause” “effect”

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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 
X s 
where:

Y  s  = L  y t 
X  s  = L  x t 

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 Development of Transfer Functions
Example: Stirred Tank Heating System

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

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assuming constant liquid holdup and flow rates:

dT
V C  wC Ti  T   Q (1)
dt
Suppose the process is initially at steady state:

T  0   T , Ti  0   Ti , Q  0   Q 2
where T  steady-state value of T, etc. For steady-state
conditions:
0  wC Ti  T   Q (3)

Subtract (3) from (1):

dT
V C  wC Ti  Ti   T  T   Q  Q  (4)
dt
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But,
dT d T  T 
 because T is a constant (5)
dt dt

Thus we can substitute into (4-2) to get,

dT 
V C  wC Ti  T    Q (6)
dt
where we have introduced the following “deviation variables”,
also called “perturbation variables”:

T   T  T , Ti  Ti  Ti , Q  Q  Q (7)

Take L of (6):

V  C  sT   s   T  t  0   wC Ti s   T   s   Q  s  (8)

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Evaluate T  t  0 .

By definition, T   T  T . Thus at time, t = 0,

T  0   T 0   T (9)

But since our assumed initial condition was that the process
was initially at steady state, i.e., T  0   T it follows from (9)
that T   0   0.
Note: The advantage of using deviation variables is that the
initial condition term becomes zero. This simplifies the later
analysis.

Rearrange (8) to solve for T   s  :

 K   1 
T s     Q  s     Ti s  (10)
  s 1   s 1
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where two new symbols are defined:
1 V
K and   11
wC w

Transfer Function BetweenQ and T 

Suppose Ti is constant at the steady-state value. Then,
Ti t   Ti  Tit   0  Ti s   0. Then we can substitute into
(10) and rearrange to get the desired TF:

T s  K
 (12)
Q  s   s  1

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Transfer Function Between T and Ti :
Ti
Suppose that Q is constant at its steady-state value:

Q t   Q  Q t   0  Q  s   0

Thus, rearranging

T s  1
 (13)
Ti s   s  1

Comments:
1. The TFs in (12) and (13) show the individual effects of Q and
on T. What about simultaneous changes in both Q and Ti ?

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 • Answer: See (10). The same TFs are valid for simultaneous
changes.

• Note that (10) 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
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.

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Properties of Transfer Function Models

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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
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 .

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Calculation of K from the TF Model:
If a TF model has a steady-state gain, then:

K  lim G  s  (14)
s 0

• 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)

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2. Order of a TF Model
Consider a general n-th order, linear ODE:
dny dy n1 dy d mu
an  an1   a1  a0 y  bm m 
dt n
dt n1 dt dt
d m1u du
bm1 m 1
   b1  b0u (4-39)
dt dt

Take , 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

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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.

Physical Realizability:
For any physical system, n  min (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
dt

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3. Additive Property
U2
Suppose that an output is influenced by two inputs and that
the transfer functions are known:
Y s Y s 
 G1  s  and  G2  s 
U1  s  U2 s 

Then the response to changes in bothU1 and can be written

as:

Y  s   G1  s U1  s   G2  s U 2  s 

The graphical representation (or block diagram) is:

U1(s) G1(s)
Y(s)

U2(s) G2(s)

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4. Multiplicative Property
Suppose that,
Y s U2 s 
 G2  s  and  G3  s 
U2 s U3 s 
Then,
Y  s   G2  s U 2  s  and U 2  s   G3  s U 3  s 
Substitute,
Y  s   G2  s  G3  s U 3  s 
Or,

Y s
 G2  s  G3  s  U3  s  G2  s  G3  s  Y s 
U3  s 

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