Lecture 4

Transfer Function and system’s stability

 Examples
• Consider the following transfer functions.
• Determine
• Whether the transfer function is proper or improper
• Poles of the system
• zeros of the system
• Order 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)
2
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

3
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
4
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
5
 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
 Draw the pole-zero map
 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)
6
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
7
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

8
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 ) e 3t 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
BIBO vs Transfer Function
• Whenever one or more than one poles are in RHP the
solution of dynamic equations contains increasing
exponential terms.
• Such as .
e 3t
• That makes the response of the system unbounded
and hence the overall response of the system is
unstable.
 Introduction to Mathematical
Modeling
&
Mathematical Modeling of Electrical
Systems
Types of Systems
•
Static System: If a system does not change with time, it is called a
static system.
•
Dynamic System: If a system changes with time, it is called a dynamic
system.

14
 Dynamic Systems
• A system is said to be dynamic if its current output may depend on
the past history as well as the present values of the input variables.
• Mathematically,

y(t ) [u( ),0  t ]

u : Input, t : Time
Example: A moving mass
y
u
M
Model: Force=Mass x Acceleration

My u
 Ways to Study a System

System

Experiment with Experiment with a

actual System model of the System

Physical Model Mathematical Model

Analytical Solution

Simulation

Frequency Domain Time Domain Hybrid Domain

16
 Model
•
A model is a simplified representation or
abstraction of reality.
•
Reality is generally too complex to copy
exactly.
•
Much of the complexity is actually irrelevant
in problem solving.

17
What is Mathematical Model?
A set of mathematical equations (e.g., differential eqs.) that
describes the input-output behavior of a system.

What is a model used for?

• Simulation
• Prediction/Forecasting
• Prognostics/Diagnostics
• Design/Performance Evaluation
• Control System Design
Black Box Model
• When only input and output are known.
• Internal dynamics are either too complex or unknown.

Input Output
• Easy to Model

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Grey Box Model
• When input and output and some information about the internal
dynamics of the system is known.

u(t) y(t)
y[u(t), t]
• Easier than white box Modelling.

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White Box Model
• When input and output and internal dynamics of the system is
known.

dy(t ) du(t ) d 2 y(t )

u(t) 3  y(t)
dt dt dt 2

• One should know have complete knowledge of the system to derive a

white box model.

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 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current

for the resistor is given by Ohm’s law i-e

v R (t ) i R (t )R
• The Laplace transform of the above equation is

VR (s )  I R (s )R
 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current

for the Capacitor is given as:

1
vc (t )  ic (t )dt
C
• The Laplace transform of the above equation (assuming
there is no charge stored in the capacitor) is
1
Vc (s )  I c (s )
Cs
 Basic Elements of Electrical Systems

• The time domain expression relating voltage and current

for the inductor is given as:
di L (t )
v L (t )  L
dt
• The Laplace transform of the above equation (assuming
there is no energy stored in inductor) is

VL (s )  LsI L (s )
 V-I and I-V relations
Component Symbol V-I Relation I-V Relation

Resistor v R (t )
v R (t ) i R (t )R i R (t ) 
R

Capacitor
1 dvc (t )
vc (t )  ic (t )dt ic (t ) C
C dt
Inductor
di L (t ) 1
v L (t )  L i L (t )  v L (t )dt
dt L

25
 Example#1
• The two-port network shown in the following figure has vi(t) as
the input voltage and vo(t) as the output voltage. Find the transfer
function Vo(s)/Vi(s) of the network.

vi( t) i(t) C vo(t)

1
vi (t ) i(t )R  i(t )dt
C
1
vo (t )  i(t )dt
C
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