Control System

11/14/24
Engineering

ProfCharlton Academy
Prof. CHARLTON S. INAO
Defence Engineering College,
Debre Zeit , Ethiopia

1
TRANSFER FUNCTION BY
LAPLACE
TRANSFORM
 11/14/24 ProfCharlton Academy
2
TRANSFER FUNCTION
COMMENTS ON TRANSFER FUNCTION

11/14/24
ProfCharlton Academy
3
COMMENTS ON TRANSFER FUNCTION

11/14/24
ProfCharlton Academy
4
 TRANSFER FUNCTION
The relationship between the output and the input for
elements used in control systems is frequently

11/14/24
described by a differential equation. However, in
order to make life simple, what we really need is a
simpler relationship than a differential equation giving

ProfCharlton Academy
the relationship between input and output for a
system, even when the output varies with time. It is Pierre-Simon
1827).
Laplace (1749–

nice and simple to say that the output is just ten times
the input and so describe the system by gain = 10.
But it is not so simple when the relationship between
the input and output is described by a differential
equation.
However, there is a way we can have such a simple form of relationship
where the relationship involves time but it involves writing inputs and
outputs in a different form. It is called the Laplace transform. In this
chapter we will consider how we can carry out such transformations, but
not the mathematics to justify why we can do it; the aim is to enable you
to use the transform as a tool to carry out tasks. 5
In general, when we consider inputs and
outputs of systems as functions of time

11/14/24
then the relationship between the output
and input is given by a differential equation.

ProfCharlton Academy
If we have a system composed of two
elements in series with each having its
input-output relationships described by a
differential equation, it is not easy to see
how the output of the system as a whole is
related to its input.
6
 There is a way we can overcome this

11/14/24
problem and that is to transform the
differential equations into a more

ProfCharlton Academy
convenient form by using the Laplace.
 This form is a much more convenient way

of describing the relationship than a

differential equation since it can be easily
manipulated by the basic rules of algebra.

7
To carry out the transformation we follow the
following rules:

11/14/24
ProfCharlton Academy
8
11/14/24 ProfCharlton Academy
9
11/14/24 ProfCharlton Academy
10
11/14/24 ProfCharlton Academy
11
11/14/24 ProfCharlton Academy
12
11/14/24 ProfCharlton Academy
13
11/14/24 ProfCharlton Academy
14
11/14/24 ProfCharlton Academy
15
11/14/24 ProfCharlton Academy
16
 TRANSFER FUNCTION
• The term gain to relate the input and output

11/14/24
of a system with gain G = output/input When
we are working with inputs and outputs

ProfCharlton Academy
described as functions of s we define the
transfer function G(s) as [output Y(s)/input
X(s)] when all initial conditions before we
apply the input are zero:

17
 Transfer function as
the factor that
multiplies the input to
give the output.

11/14/24
ProfCharlton Academy
A transfer function can be represented as a block
diagram with X(s) the input, Y(s) the output and the
transfer function G(s) as the operator in the box that
converts the input to the output. The block
represents a multiplication for the input. Thus, by
using the Laplace transform of inputs and outputs,
we can use the transfer function as a simple
multiplication factor, like the gain discussed
previously. 18
11/14/24 ProfCharlton Academy
19
11/14/24 ProfCharlton Academy
20
TRANSFER FUNCTIONS OF COMMON
SYSTEM ELEMENTS

11/14/24
 By considering the relationships between the

ProfCharlton Academy
inputs to systems and their outputs we can
obtain transfer functions for them and hence
describe a control system as a series of
interconnected blocks, each having its input-
output characteristics defined by a transfer
function. The following are transfer functions
which are typical of commonly encountered
system elements:

21
1 Gear train
For the relationship between the input speed and output speed with a
gear train having a gear ratio N:
transfer function = N

11/14/24
2 Amplifier
For the relationship between the output voltage and the input

ProfCharlton Academy
voltage with G as the constant gain:
transfer function = G
3 Potentiometer
For the potentiometer acting as a simple potential divider circuit
the relationship between the output voltage and the input
voltage is the ratio of the resistance across which the output is
tapped to the total resistance across which the supply voltage is
applied and so is a constant and hence the transfer function is a
constant K:
transfer function = K 22
4 Armature-controlled dc. motor
For the relationship between the drive shaft speed and the input voltage
to the armature is:

11/14/24
where L represents the inductance of the armature circuit and R its
resistance.

ProfCharlton Academy
This was derived by considering armature circuit as effectively inductance
in series with resistance and hence:

and so, with no initial conditions:

and, since the output torque is proportional to the armature current we have
a transfer function of the form 23
5 .Valve controlled hydraulic actuator
The output displacement of the hydraulic cylinder is
related to the input displacement of the valve shaft by a
transfer function of the form:

11/14/24
ProfCharlton Academy
6. Heating system
The relationship between the resulting temperature
and the input to a heating element is typically of the
form:

where C is a constant representing the thermal capacity of

the system and R a constant representing its thermal 24
resistance.
7.Tachogenerator
The relationship between the output voltage and the input
rotational speed is likely to be a constant K and so

11/14/24
represented by:

transfer function = K

ProfCharlton Academy
8 Displacement and rotation
For a system where the input is the rotation of a shaft
and the output, as perhaps the result of the rotation of a
screw, a displacement, since speed is the rate of
displacement we have v = dy/dt and so V(s) = sY(s) and
tlie transfer function is:

25
9 Height of liquid level in a container
The height of liquid in a container depends on the rate at
which liquid enters the container and the rate at which it is
leaving. The relationship between the input of the rate of

11/14/24
liquid entering and the height of liquid in the container is of
the form:

ProfCharlton Academy
where A is the constant cross-sectional area of the
container, p the density of the liquid, g the acceleration
due to gravity and R the hydraulic resistance offered by
the pipe through which the liquid leaves the container. 26
ILLUSTRATION OF TRANSFER FUNCTION OF
COMMON SYSTEM ELEMENTS

11/14/24
ProfCharlton Academy
27
11/14/24 ProfCharlton Academy
28
11/14/24 ProfCharlton Academy
29
11/14/24 ProfCharlton Academy
30
DC MOTOR ELECTRICAL DIAGRAM AND SKETCH

11/14/24
ProfCharlton Academy
31
11/14/24 ProfCharlton Academy
32
11/14/24 ProfCharlton Academy
33
11/14/24 ProfCharlton Academy
34
TRANSFER FUNCTIONS AND SYSTEMS
 Consider a speed control system involving a differential amplifier to

11/14/24
amplify the error signal and drive a motor, this then driving a shaft
via a gear system. Feedback of the rotation of the shaft is via a
tachogenerator.

ProfCharlton Academy
1 The differential amplifier might be assumed to give an output
directly proportional to the error signal input and so be
represented by a constant transfer function K, i.e. a gain K
which does not change with time.

2 The error signal is an input to the armature circuit of the motor

and results in the motor giving an output torque which is
proportional to the armature current. The armature circuit can be
assumed to be a circuit having inductance L and resistance R
and so a transfer function of 35
3 The torque output of the motor is transformed to rotation of the drive
shaft by a gear system and we might assume that the rotational speed
is proportional to the input torque and so represent the transfer
function of the gear system by a constant transfer function N, i.e. the
gear ratio.

11/14/24
4 The feedback is via a tachogenerator and we might make the
assumption that the output of the generator is directly proportional to its

ProfCharlton Academy
input and so represent it by a constant transfer function H.
The block diagram of the control system might thus be like:

36
Block diagram for the control system for speed of a shaft with the terms in the
boxes being the transfer functions for the elements concerned
SYSTEM TRANSFER FUNCTIONS
 Consider the overall transfer functions of
systems involving series connected elements

11/14/24
and systems with feedback loops.

ProfCharlton Academy
Systems in series
Consider a system of two subsystems in series

The first subsystem has an input of X(s) and an output of Y1(s); thus, G1(s) =
Y1 (s)/X(s). The second subsystem has an input of Y1 (s) and an output of 37
Y(s) ;thus, G2(s) = Y(s)/Y1(s)
 11/14/24 ProfCharlton Academy
38
We thus have:
11/14/24 ProfCharlton Academy
39
SYSTEMS WITH FEEDBACK
 For systems with a negative feedback loop we can have the
situation shown in Figure below where the output is fed back

11/14/24
via a system with a transfer function H(s) to subtract from
the input to the system G(s). The feedback system has an
input of Y(s) and thus an output of H(s)Y(s). Thus the

ProfCharlton Academy
feedback signal is H(s)Y(s).

System
with
negative
feedback

The error is the difference between the system

input signal X(s) and the feedback signal and is
40
thus:
This error signal is the input to the G(s) system and gives an
output of Y(s). Thus:

11/14/24
and so:

ProfCharlton Academy
which can be rearranged to give

For a system with a negative feedback, the overall transfer

function is the forward path transfer function divided by one
plus the product of the forward path and feedback path
41
transfer functions.
For a system with positive
feedback (Figure at the right), the
feedback signal is H(s)Y(s) and
thus the input to the G(s) system

11/14/24
is X(s) + H(s)Y(s). Hence:

ProfCharlton Academy
and so:
This can be
rearranged to
give:

For a system with a positive feedback, the overall transfer function is the
forward path transfer function divided by one minus the product of the 42
forward path and feedback path transfer functions.
 Example

Determine the overall transfer function for a control system (Figure)

which has a negative feedback loop with a transfer function 4

11/14/24
and a forward path transfer function of 2/(s + 2).

ProfCharlton Academy
The overall transfer function of the system is:

43
Example

Determine the overall transfer function for a system (Figure) which has
a positive feedback loop with a transfer function 4 and a forward path
transfer function of 2/(5 + 2).

11/14/24
ProfCharlton Academy
The overall transfer function is:

44
BLOCK MANIPULATION
Very often, systems may have many elements
and sometimes more than one input. A single

11/14/24
input-single output system is often termed a
SISO system while a multiple input-multiple

ProfCharlton Academy
output system is a MISO system.
The following are some of the ways we can
reorganize the blocks in a block diagram of a
system in order to produce simplification and
still give the same overall transfer function
for the system. To simplify the diagrams, the
(s) has been omitted; it should, however, be
assumed for all dynamic situations.
45
Blocks in series

11/14/24
As indicated in Section: System series , Figure
below shows the basic rule for simplifying blocks in
series.

ProfCharlton Academy
46
Moving takeoff points

As a means of simplifying block diagrams it is often

11/14/24
necessary to move takeoff points. The following figures
give the basic rules for such movements.

ProfCharlton Academy
Moving a takeoff point to beyond a block

47
Moving a takeoff point to ahead of a block
Moving a summing point

As a means of simplifying block diagrams it is often necessary

11/14/24
to move summing points. The following figures give the basic
rules for such movements.

ProfCharlton Academy
Rearrangement of summing points

48

Interchange of summing points

 11/14/24
ProfCharlton Academy
Moving a summing point ahead of a block

49
Moving a summing point beyond a block
Changing feedback and forward paths
Figures below show block simplification techniques when changing
feed forward and feedback paths.

11/14/24
ProfCharlton Academy
Removing a block from a feedback path

50
Removing a block from a forward path
 Example

Use block simplification techniques to simplify the system shown below

11/14/24
ProfCharlton Academy
51
 1. Moving
a takeoff
point

11/14/24
ProfCharlton Academy
2. Eliminating
a feed
forward loop

3. Simplifying
series
elements 52
 4. Simplifying
a feedback
element

11/14/24
ProfCharlton Academy
5. Simplifying
series
elements

6. Simplifying
negative
feedback 53
11/14/24 ProfCharlton Academy
54
APPLICATIONS
ADDITIONAL
11/14/24 ProfCharlton Academy
55
11/14/24 ProfCharlton Academy
56
11/14/24 ProfCharlton Academy
57
11/14/24 ProfCharlton Academy
58
11/14/24 ProfCharlton Academy
59
EXAMPL
E1
11/14/24 ProfCharlton Academy
60
DETAILED SOLUTION FOR ELECTRICAL CIRCUIT
FIGURE 3

11/14/24
ProfCharlton Academy
61
11/14/24 ProfCharlton Academy
62
EXAMPL
E1
The differential equations for the given circuit are as
follows:

11/14/24
I

ProfCharlton Academy
1 di2 di1 II
R2i2  i2 dt  L(  ) 0
C dt dt

1
C i dt e
2 0 III
63
 Taking the Laplace transforms of
these equations, assuming zero
initial conditions

11/14/24
R1 I1 ( s )  L[ sI1 ( s )  sI 2 ( s )] Ei ( s )

ProfCharlton Academy
1

1
R2 I 2 ( s )  I 2 ( s )  L( sI 2 ( s )  sI1 ( s ) 0
Cs 2

1
I 2 ( s )  Eo ( s ) 3
Cs
64
 Defining I1 in terms of I 2 in equation 2
1
R2 I 2 ( s )  I 2 ( s )  L( sI 2 ( s )  sI1 ( s ) 0

11/14/24
Eqn. 2
Cs

ProfCharlton Academy
1
I 2 ( s )[ R2   Ls ]  LsI1 ( s )
Cs
LsI1 ( s )
I 2 (s) 
1
R2   Ls
Cs
LCs 2 Multiplying
I 2 (s)  I1 ( s )
LCs 2  R2 Cs  1 the fraction Eqn. 4
65
by Cs
 Substituting equation 4 int o equation 1

R1 I1 ( s )  L[ sI1 ( s )  sI 2 ( s )] Ei ( s ) Equation 1

11/14/24
Equation 4

ProfCharlton Academy
R1 I1 ( s )  LsI1 ( s )  LsI 2 ( s )] Ei ( s )

LCs 2
R1 I1 ( s )  LsI1 ( s )  Ls 2
I1 ( s ) Ei ( s )
LCs  R2Cs  1

66
Factor out the common term I1(s)

LCs 2
[ R1  Ls  Ls ]I1 ( s ) Ei ( s )

11/14/24
2
LCs  R2Cs  1

ProfCharlton Academy
Simplifying with
LCD and rearranging terms

By long multiplication LCs 2  R2Cs  1

R1  Ls
2
LCs R1  R1R 2Cs  R1
3 67
2
L2Cs  R2 LCs  Ls
 Rearranging and factoring out common terms

11/14/24
2 2
LCs R  R LCs  R R Cs  Ls  R  L Cs
1 2 1 2 1 2

ProfCharlton Academy
Capacitor and
LCs2 (R1R 2 )(R1R 2CL)sR10 inductor works
inversely by
electrical operation,
so it will be
cancelled

Eq.5

68
From Equation 3 and 4, we have to form equation 6

11/14/24
4

ProfCharlton Academy
69
 11/14/24
EQ 5

ProfCharlton Academy
EQ 5

Final Transfer
Function

70
 11/14/24 ProfCharlton Academy
71
Example 3
EXAMPLE
2
 11/14/24 ProfCharlton Academy
72
Example 4

Example 5
 Example 5. Convert the differential equation to a
transfer function

11/14/24
Answer:

ProfCharlton Academy
EXERCIS
Class participation
ES

73
11/14/24 ProfCharlton Academy
74
11/14/24 ProfCharlton Academy
75
11/14/24 ProfCharlton Academy
76
ADDITIONAL
EXERCISES
11/14/24 ProfCharlton Academy
77
11/14/24 ProfCharlton Academy
78
11/14/24 ProfCharlton Academy
79
FIND THE TRANSFER
FUNCTION OF THE
ELECTRICAL NETWORK
SHOWN IN PHASE LEAD
FORM.

11/14/24
ProfCharlton Academy
80
11/14/24 ProfCharlton Academy
81
 Find the transfer
function of the
electrical
network shown

11/14/24
Assuming no external load
Applying Kirchoff’s law to electrical
network

ProfCharlton Academy
Taking Laplace
transform

putting

82
Find the transfer
function of the
electrical
network shown

11/14/24
Solutio
Redrawing
n
the figure

ProfCharlton Academy
Let
after
substituting
the values

83
 Substituting the value
of I1(s) in equation (1)

But from equation

11/14/24
(3)
Therefore

ProfCharlton Academy
Or

Substituting the value of Z1, Z2, Z3 and Z4

84
11/14/24 ProfCharlton Academy
85
11/14/24 ProfCharlton Academy
86
Transfer

11/14/24
Function
where

ProfCharlton Academy
when

Also

or

or
87
 11/14/24
Assume current distribution as

ProfCharlton Academy
shown

88
11/14/24 ProfCharlton Academy
89
11/14/24 ProfCharlton Academy
90
Write the differential equations for
the electrical shown

11/14/24
ProfCharlton Academy
Assuming
current
distribution as
shown in figure,
the differential
equation are
obtained by the
use of Kirchoff’s
law

91
 11/14/24 ProfCharlton Academy
92

DETERMINE THE TRANSFER FUNCTION

RELATION VO(S) TO VI(S) FOR THE NETWORK
SHOWN
Transfer function is
11/14/24 ProfCharlton Academy
93
 11/14/24
ProfCharlton Academy
Redrawing the
circuit diagram
as shown and
applying
Kirchoff’s law

94
Transfer function is

and

11/14/24
ProfCharlton Academy
But

Therefo
re

or

95
 Determine the Transfer function of the electrical
network

11/14/24
Solution: Assuming current distribution shown, the

ProfCharlton Academy
differential equations can be written as

96
11/14/24 ProfCharlton Academy
97
11/14/24 ProfCharlton Academy
98
11/14/24 ProfCharlton Academy
99
11/14/24 ProfCharlton Academy
100
11/14/24 ProfCharlton Academy
101
11/14/24 ProfCharlton Academy
102
11/14/24 ProfCharlton Academy
103
11/14/24 ProfCharlton Academy
104
 11/14/24 ProfCharlton Academy
105
ANSWER KEY